Multiple Behaviors Generation by 1 D.O.F. Mobile Robot

Author

Toyoizumi, Teppei ; Yonekura, Shogo ; Tadakuma, Riichiro ; Kawaguchi, Yoichiro ; Kamimura, Akiya

Author_Institution

Grad. Sch. of Interdiscipl. Inf. Studies, Univ. of Tokyo, Tokyo

fYear

2009

fDate

14-18 March 2009

Firstpage

307

Lastpage

307

Abstract

In this research, we developed a sphere-shaped mobile robot that can generate multiple behaviors by using only one motor. The robot can generate the translational motion and the rotational motion by controlling the motion of the motor. The motor itself acts as an eccentric weight during motions. To generate emergent behaviors, many protrusions are mounted on the surface of the spherical body. The emergent behaviors occur by an interaction between the external world and these protrusions when the sphere is vibrating, and the robot can move in a random walk manner.

Keywords

mobile robots; motion control; path planning; vibration control; eccentric weight; motor motion control; rotational motion; sphere-shaped mobile robot; translational motion; Frequency; Gravity; Legged locomotion; Mobile robots; Motion control; Orbital robotics; Robotics and automation; Shafts; Toy industry; Vibrations; 1 D.O.F. actuator; sphere-shaped probe robot; surface protrusions; vibration;

fLanguage

English

Publisher

ieee

Conference_Titel

Virtual Reality Conference, 2009. VR 2009. IEEE

Conference_Location

Lafayette, LA

ISSN

1087-8270

Print_ISBN

978-1-4244-3943-0

Electronic_ISBN

1087-8270

Type

conf

DOI

10.1109/VR.2009.4811069

Filename

4811069