MonoRollBot：単一受動バネ機構で駆動する3自由度球体ロボット
MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design
1つのモータと受動バネだけで3自由度の全方向移動を実現する球体ロボットを設計し、その運動性能を評価した研究。
著者: Zhiwei Liu, Seyed Amir Tafrishi
分類: cs.RO
原文アブストラクト
Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional propulsion with high degrees of freedom while utilizing a limited number of actuators. This paper presents the MonoRollBot, a novel 3-degree-of-freedom (DOF) spherical robot that utilizes an underactuated mechanism driven by only a single spring-motor system. Unlike conventional spherical robots, MonoRollBot employs a minimalist actuation approach, relying on only one motor and a passive spring to control its locomotion. The robot achieves 3-DOF motion through an innovative coupling of spring dynamics and motor control. In this work, we detail the design of the MonoRollBot and evaluate its motion capabilities through design studies. We also do studies on its locomotion behaviours based on changes in rotating mass and stiffness properties.
