학술논문
Development of a spherical rolling robot equipped with a gyro
Document Type
Conference
Source
2012 IEEE International Conference on Mechatronics and Automation Mechatronics and Automation (ICMA), 2012 International Conference on. :1602-1607 Aug, 2012
Subject
Language
ISSN
2152-7431
2152-744X
2152-744X
Abstract
This paper presents a prototype of a spherical rolling robot with a new driving mechanism and shows some experimental results to verify the feasibility of the mechanism. The spherical robot has a momentum wheel (gyro) that rotates at a large velocity inside an outer spherical shell. The attitude of an inner mechanism with the gyro is stabilized through the gyroscopic effect, and the outer shell is driven by DC motors installed in the inner mechanism. The translational motion of the robot is interpreted to be caused by the transmission of angular momentum from the gyro to the outer shell. Experimental results show that a feedback controller makes the robot move at a desired translational velocity.