Development of 2-D.O.F. mass driving unit for dynamic analysis of rolling locomotion

Abstract

On the field of the study of mass-manipulated rolling locomotion, dynamics of the rolling rigid body is noteworthy. There were some previous researches of rolling locomotion, which examined motions of mass-manipulated rolling robots. Those robots demand eccentricity of its mass to its geometrical center. This research propose a new 2-d.o.f. driving unit for those robot, noticing the position of actuators to achieve the eccentricity.