Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
Due to their geometric nature, spherical mobile robots exhibit swaying behavior when moving. Although this behavior is disadvantageous regarding accurate control and predictability of movement, it also gives a good impression to people. In this study, we developed a three-axis weight-shifting mechanism for shifting the center of gravity of an internal unit in a vehicle-riding spherical robot. Furthermore, we investigated how the robot’s sway changes by applying P and D control. The results showed that the magnitude of sway changes by moving a certain Weight-Shifting concerning the direction of sway. In addition, it was also found that P control amplifies the sway, and D control attenuates the sway.
