主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2023
開催日: 2023/06/28 - 2023/07/01
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.