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JRM Vol.35 No.4 pp. 1063-1072
doi: 10.20965/jrm.2023.p1063
(2023)

Paper:

Modeling and Optimization of an Arc-Shaped Sliding Locomotion Robot with Wobbling Mass

Cong Yan* ORCID Icon, Longchuan Li** ORCID Icon, Wataru Yanagimoto***, Zhicheng Feng***, and Isao Tokuda*** ORCID Icon

*Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology
1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan

**College of Information Science and Technology, Beijing University of Chemical Technology
No.15, North 3rd Ring East Road, Chaoyang District, Beijing 100013, China

***Department of Mechanical Engineering, Ritsumeikan University
1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan

Received:
March 18, 2022
Accepted:
March 13, 2023
Published:
August 20, 2023
Keywords:
slippery ground, wobbling mass, underactuated system, Bayesian optimization
Abstract

Recently, several indirectly controlled sliding robots have been designed to achieve efficient and stable locomotion on slippery surfaces, and numerical simulations proved their possibility. However, it is difficult to achieve the same performance on a real machine because the wobbling mass, composed of springs and dampers, shows unexpected behavior when it is moved in translation. In this study, we propose a model of an arc-shaped sliding locomotion robot with a rotating wobbling mass. Specifically, the position of the center of gravity of the robot was changed, and the pull-in phenomenon due to the rotational motion of the wobbling mass is utilized. By rotating the wobbling mass, the sliding motion is realized while maintaining a strong propulsive force. First, we performed experimental validation of the proposed new mechanism. Subsequently, a detailed mathematical model was constructed for numerical analysis. Finally, the motion performance was optimized by the Bayesian optimization method.

Motion generation of arc-shaped sliding locomotion robot with wobbling mass

Motion generation of arc-shaped sliding locomotion robot with wobbling mass

Cite this article as:
C. Yan, L. Li, W. Yanagimoto, Z. Feng, and I. Tokuda, “Modeling and Optimization of an Arc-Shaped Sliding Locomotion Robot with Wobbling Mass,” J. Robot. Mechatron., Vol.35 No.4, pp. 1063-1072, 2023.
Data files:
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Last updated on Jul. 19, 2024