Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
This manuscript describes the rolling locomotion of a polyhedral robot. The outer shell of the prototype is made of an expanded icosidodecahedron, which has four types of contact surfaces. This robot has an eccentric motor inside. This robot rolls by the reaction force of the centripetal force when the eccentric motor is rotated. This manual clarifies the fundamental physical characteristics, the rotation angle against a slope, of the prototype. When the rotation angle is small, the prototype can roll easily from the contacting surface. Moreover, the experimental results reveal that the translation speed of the prototype increases when the angular velocity of the motor of the internal mechanism is set appropriately.
