Open AccessDevelopment of a Minimally Actuated Jumping-Rolling Robot
Author(s) -
Thanhtam Ho,
Sang Yoon Lee
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/60495
Subject(s) - jumping , robot , mechanism (biology) , jump , simulation , robot locomotion , mobile robot , computer science , control theory (sociology) , robot control , engineering , control (management) , artificial intelligence , physics , geology , paleontology , quantum mechanics
This paper presents development of a hybrid mobile robot in order to take advantage of both rolling and jumping locomotion on the ground. According to the unique design of the mechanism, the robot is able to execute both jumping and rolling skilfully by using only one DC motor. Changing the centre of gravity enables rolling of the robot and storage of energy is utilized for jumping. Mechanism design and control logic are validated by computer simulation. Simulation results show that the robot can jump nearly 1.3 times its diameter and roll at the speed of 3.3 times its diameter per second