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

Paper:

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

Received:
October 19, 2012
Accepted:
February 20, 2013
Published:
April 20, 2013
Keywords:
mobile robot, cylinder, nonlinear dynamics
Abstract

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:
Tetsuro Hirano, Masato Ishikawa, and Koichi Osuka, “Control and Development of Cylindrical Mobile Robot,” J. Robot. Mechatron., Vol.25, No.2, pp. 392-399, 2013.
Data files:
References
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Last updated on Sep. 19, 2021