롤러형 바퀴를 갖는 이동로봇 개발
Development of Roller Wheel Mobile Robot
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In this paper, a new mobile robot, so called a rollerbot, is presented, which has single bodyand rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energyconsumption in motion because of the reduced friction. By changing center of mass using a balancingweight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot inthis paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center ofmass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.
Abstract
In this paper, a new mobile robot, so called a rollerbot, is presented, which has single bodyand rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energyconsumption in motion because of the reduced friction. By changing center of mass using a balancingweight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot inthis paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center ofmass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.
참고문헌 (10)
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