球体型移動ロボットの走行時における揺れの性質を変化させるためのWeight-Shifting機構の開発と制御

抄録

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.