DocumentCode
681514
Title
Simulation and analysis on dynamics of a minimally-actuated hybrid mobile robot
Author
Thanhtam Ho ; Hwiyong Choi ; Sangyoon Lee
Author_Institution
Dept. of Mech. Design & Production Eng., Konkuk Univ., Seoul, South Korea
fYear
2013
fDate
12-14 Dec. 2013
Firstpage
414
Lastpage
419
Abstract
This paper presents simulation and analysis on dynamics of a hybrid mobile robot. The robot is designed to take advantage of both rolling and jumping locomotion ways on the ground. The most outstanding feature of the robot is the minimum use of actuator. The robot is designed to be able to execute both jumping and rolling skillfully by using only one DC motor. Mechanism design and control logic are validated by computer simulation.
Keywords
actuators; control engineering computing; digital simulation; legged locomotion; robot dynamics; DC motor; actuator; computer simulation; control logic; jumping locomotion; mechanism design; minimally-actuated hybrid mobile robot dynamics analysis; minimally-actuated hybrid mobile robot dynamics simulation; rolling locomotion; Actuators; Computational modeling; DC motors; Mathematical model; Mobile robots; Springs;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location
Shenzhen
Type
conf
DOI
10.1109/ROBIO.2013.6739494
Filename
6739494
Link To Document