Development of a Minimally Actuated Jumping-Rolling Robot:

International Journal of Advanced Robotic Systems

ThanhtamHo¹ 

关键词: hybrid mobile robot;    jumping robot;    rolling robot;   

DOI  :  10.5772/60495

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper presents development of a hybrid mobile robot in order to take advantage of both rolling and jumping locomotion on the ground. According to the unique design of the mechanism, the robot is able to execute both jumping and rolling skilfully by using only one DC motor. Changing the centre of gravity enables rolling of the robot and storage of energy is utilized for jumping. Mechanism design and control logic are validated by computer simulation. Simulation results show that the robot can jump nearly 1.3 times its diameter and roll at the speed of 3.3 times its diameter per second.

【 授权许可】

CC BY