Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
A lot of research have been done on spherical roller drive according to the type and number of rollers. Typical examples are a sphere-riding robot with three omni-rollers and an omnidirectional wheelchair robot with two normal rollers. On the other hand, in a competition called RoboCup, in which robots play soccer, a sphere is held by driving rollers with constraints. However, there has been no consideration of slippage in the motion of the sphere driven by rollers so far, and there was no mathematical basis for the ball holding mechanism. Therefore, a model with ordinary rollers considering slippage was proposed, and the kinematics for arbitrary placement was established. This paper describes a method for verifying kinematics based on image sensors.
