Control and Development of Cylindrical Mobile Robot

Tetsuro Hirano; Masato Ishikawa; Koichi Osuka

doi:10.20965/jrm.2013.p0392

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JRM Vol.25 No.2 pp. 392-399

doi: 10.20965/jrm.2013.p0392

(2013)

Paper:

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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:

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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References

[1] M. Ishikawa, T. Kato, Y. Sugimoto, K. Osuka, and Y. Sankai, “Tripedal Walking Robot with Fixed Coxa Driven by Periodic Rocking,” Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, 2012.
[2] A. Koshiyama and K. Yamafuji, “Design and Control of an All-Direction Steering Type Mobile Robot,” The Int. J. of Robotics Research, Vol.12, No.5, pp. 411-419, 1993.
[3] Y. Nakamura, S. Shimoda, and S. Shoji, “Mobility of a Microgravity Rover using Internal Electro-Magnetic Levitation,” Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, 2000.
[4] V. Kaznov and M. Seeman, “Outdoor Navigation with a Spherical Amphibious Robot,” Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, 2010.
[5] M. Ishikawa, R. Kitayoshi, and T. Sugie, “Volvot: a Spherical Mobile Robot with Eccentric Twin Rotors,” Proc. of IEEE Int. Conf. on Robotics and Biomimetics, 2011.
[6] Y. Xu and Y. Ou, “Control of Single Wheel Robot,” Springer, 2005.
[7] P. Ciestlak, T. Buratowski, T. Uhl, and M. Giergiel, “The monowheel robot with dynamic stabilization,” Robotics and Autonomous Systems, Vol.59, pp. 611-619, 2011.
[8] T. Mitarai and K. Ono, “Attitude Control of a Rhönrad by Internal Mass Motion,” The Japan Society of Mechanical Engineers Int. J., Series C, Vol.49, No.4, pp. 1011-1017, 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Ishikawa, T. Kato, Y. Sugimoto, K. Osuka, and Y. Sankai, “Tripedal Walking Robot with Fixed Coxa Driven by Periodic Rocking,” Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, 2012.

[2] [2] A. Koshiyama and K. Yamafuji, “Design and Control of an All-Direction Steering Type Mobile Robot,” The Int. J. of Robotics Research, Vol.12, No.5, pp. 411-419, 1993.

[3] [3] Y. Nakamura, S. Shimoda, and S. Shoji, “Mobility of a Microgravity Rover using Internal Electro-Magnetic Levitation,” Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, 2000.

[4] [4] V. Kaznov and M. Seeman, “Outdoor Navigation with a Spherical Amphibious Robot,” Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, 2010.

[5] [5] M. Ishikawa, R. Kitayoshi, and T. Sugie, “Volvot: a Spherical Mobile Robot with Eccentric Twin Rotors,” Proc. of IEEE Int. Conf. on Robotics and Biomimetics, 2011.

[6] [6] Y. Xu and Y. Ou, “Control of Single Wheel Robot,” Springer, 2005.

[7] [7] P. Ciestlak, T. Buratowski, T. Uhl, and M. Giergiel, “The monowheel robot with dynamic stabilization,” Robotics and Autonomous Systems, Vol.59, pp. 611-619, 2011.

[8] [8] T. Mitarai and K. Ono, “Attitude Control of a Rhönrad by Internal Mass Motion,” The Japan Society of Mechanical Engineers Int. J., Series C, Vol.49, No.4, pp. 1011-1017, 2006.