振動駆動ロボットの研究：ブラシボットのモデリング・解析・制御・設計
A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot
ブラシボットと呼ばれる振動駆動ロボットについて、動的モデルの導出から制御アルゴリズムの設計、群制御の実証までを一貫して行った研究。
著者: Gennaro Notomista, Siddharth Mayya, Anirban Mazumdar, Seth Hutchinson, Magnus Egerstedt
分類: cs.RO
原文アブストラクト
In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we discuss the conditions under which these models can be employed to describe the motion of brushbots. Then, we present two designs of brushbots: a fully-actuated platform and a differential-drive-like one. The former is employed to experimentally validate both the developed theoretical models and the devised motion control algorithms. Finally, a coordinated-control algorithm is implemented on a swarm of differential-drive-like brushbots in order to demonstrate the design simplicity and robustness that can be achieved employing a vibration-based locomotion strategy.
