Control and Development of Cylindrical Mobile Robot
Tetsuro Hirano, Masato Ishikawa, and Koichi Osuka
Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Mobile robots are often exposed to various hazardous situations such as wet or dusty environments. However, it is easy for robots whose components are totally covered with a rigid shell to travel in such environments. For these robots, rolling is an effective way of locomotion. In this study, we focused on a rolling robot with a cylindrical shell to operate in such environments. We analyzed and developed the robot utilizing its interesting geometrical properties and established a control strategy for static locomotion.
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