Control and Development of Cylindrical Mobile Robot | Zendy

Tetsuro HIRANO | Zendy; Masato Ishikawa | Zendy; Koichi Osuka | Zendy

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Control and Development of Cylindrical Mobile Robot

Author(s) -

Tetsuro HIRANO,

Masato Ishikawa,

Koichi Osuka

Publication year - 2013

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2013.p0392

Subject(s) - robot , mobile robot , shell (structure) , robot locomotion , computer science , robot control , development (topology) , control (management) , simulation , control engineering , engineering , mechanical engineering , artificial intelligence , mathematics , mathematical analysis

Mobile robots are often exposed to various hazardous situations such as wet or dusty environments. However, it is easy for robots whose components are totally covered with a rigid shell to travel in such environments. For these robots, rolling is an effective way of locomotion. In this study, we focused on a rolling robot with a cylindrical shell to operate in such environments. We analyzed and developed the robot utilizing its interesting geometrical properties and established a control strategy for static locomotion.

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