Atsushi Koshiyama and Kazuo Yamafuji

Abstract:
This paper describes the analyses and experiments on postural stability control and ascent/descent on a slope of a spherical shaped monocycle-type robot. Applying the postural stability control methods proposed here, we achieved stability control of the robot not only on flat planes but also on rough grounds even when unexpected disturbances were added. Also, a detection method for an unknown inclination angle of a slop was established by using an analytical equation derived from the robot's mechanisms and an angle compensation method. By virtue of the unknown angle detection method, the robot's ascent/descent of a slope with its arched body remaining upright was achieved. Furthermore, when we put a glass of water on the top of the robot's arched body, the robot can run without spilling any water from the glass. It has been confirmed by the experiments that the all-direction steering-type robot developed in this study has great capability as well as versatility for home and personal use.

Keywords: Robotics, Mobile Robot, Spherical Monowheel, Controlling Arch, Arched Body, Mechatronics, Angle-Compensation Method