JRM Vol.25 No.2 pp. 392-399
doi: 10.20965/jrm.2013.p0392


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

October 19, 2012
February 20, 2013
April 20, 2013
mobile robot, cylinder, nonlinear dynamics
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.
Cite this article as:
T. Hirano, M. Ishikawa, and K. Osuka, “Control and Development of Cylindrical Mobile Robot,” J. Robot. Mechatron., Vol.25 No.2, pp. 392-399, 2013.
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