Hbot：非ホロノミック車輪で駆動するホロノミック球面ハプティックインタフェース
The Hbot : A Holonomic Spherical Haptic Interface Driven by Non-Holonomic Wheels
操舵・駆動可能な非ホロノミック車輪で球体を動かす、特異点のないホロノミック球面ロボットを提案し、運動学解析と試作機による軌道追従・回転剛性レンダリングの実験を示した。
著者: Wisdom C. Agboh
分類: cs.RO
原文アブストラクト
We present the Hbot, a holonomic, singularity-free spherical robot designed for haptic simulations. The Hbot is made up of a caged sphere actuated by steered and driven non-holonomic wheels to produce continuous and unlimited spherical motions. We analyse the kinematic interface between a sphere and $n$ arbitrarily positioned, steered and driven non-holonomic wheels in the general case. We also present a detailed singularity analysis and show that workspace-boundary and workspace-interior singularities can both be avoided at the design stage. We implement a prototype using two steered and driven non-holonomic wheels and show experimental results for trajectory tracking and rendering of various rotational stiffness levels.
