High-speed crawling-like locomotion robot using wobbling mass and reaction wheel
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ORIGINAL ARTICLE
High‑speed crawling‑like locomotion robot using wobbling mass and reaction wheel Masatsugu Nishihara1 · Longchuan Li2 · Fumihiko Asano1 Received: 20 May 2020 / Accepted: 2 October 2020 / Published online: 22 October 2020 © International Society of Artificial Life and Robotics (ISAROB) 2020
Abstract Aiming at generating steady and speedy locomotion on a slippery road, the authors have been investigating crawling-like locomotion robot using inner-wobbling effect. This paper discusses gaining transfer efficiency on an underactuated locomotion robot, which consists of an arc-shaped body with both a telescopic joint and a reaction wheel at the center of mass. First, we show the robot model, and then derive the equation of motion. A hierarchical control is also proposed to stabilize the dynamics. Second, we show the simulation results of a speedy locomotion on a slippery level surface. Finally, we discuss the stability of the reaction wheel motion. Keywords Slippery level surface · Underactuated system · Sliding · Crawling · Motion generation
1 Introduction Various locomotion robots have been developed to achieve a steady movement on a ground, and these require high adaptability of driving systems for multifarious road conditions. The following examples are some of the typical locomotion systems: legged [1], wheeled [2], combined [3, 4]. The systems achieve a steady motion on a high friction ground; however, these systems cause troublesome situations for the motion control on a slippery ground, such as unsteady motions with respect to the moving direction, the speed, as well as the posture [5, 6], due to the difficulty of generating This work was presented in part at the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics (Okinawa, Japan, November 20–22, 2019). * Masatsugu Nishihara [email protected] Longchuan Li [email protected] Fumihiko Asano [email protected] 1
School of Information Science, Japan Advanced Institute of Science and Technology, 1‑1 Asahidai, Nomi, Ishikawa 923‑1292, Japan
Department of Mechanical Engineering, Ritsumeikan University, 1‑1‑1 Nojihigashi, Kusatsu, Shiga 525‑8577, Japan
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an appropriate driving force to prevent/compensate the sliding behavior on the slippery surface. As an easy solution, obtaining enough friction force by spike shoes or high friction materials is useful. Although it solves the problem easily to restrain slipping, it does not control the motion while slipping. Preventing/avoiding slipping enhances stability to the robot; on the other hand, the control needs a highaccuracy slip sensor [7–9] and wastes much energy to steadily move/manipulate with the complicated system [10–12]. A hopping robot potentially solves the problem at a glance [13], and the robot cannot steadily control on the landing phase. Therefore, we focus on underactuated systems for managing the sliding motion, with the consideration of positively utilizing it as a substantial driving force rather than the above systems [14, 15
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