Analysis and experiment of a rocking-rolling mobile robot with coupled hemispheres

Abstract

In this paper, we propose a rocking-rolling mobile robot with coupled hemispherical feet, whose locomotion is generated by oscillation of pendulums attached to each hemisphere. To analyze this robot we built a model composed of two hemispheres connected with twistable pole and we confirm it is possible to control the moving direction of it by periodic oscillation. Then we examine its effectiveness by control experiments.