低コスト単一モータモジュール型水上ロボットの設計と実験
Design and Experiments with a Low-Cost Single-Motor Modular Aquatic Robot
1つのモータと受動フリッパーで角運動量保存を利用し、推進と操舵を実現する低コストボートロボットを設計・試作し、モジュール性と群制御の設計基準を検討した論文。
著者: Gedaliah Knizhnik, Mark Yim
分類: cs.RO
原文アブストラクト
We present a novel design for a low-cost robotic boat powered by a single actuator, useful for both modular and swarming applications. The boat uses the conservation of angular momentum and passive flippers to convert the motion of a single motor into an adjustable paddling motion for propulsion and steering. We develop design criteria for modularity and swarming and present a prototype implementing these criteria. We identify significant mechanical sensitivities with the presented design, theorize about the cause of the sensitivities, and present an improved design for future work.
