Omni-directional self-propulsive trowelling robot

A omni-directional self-propulsive trowelling robot is proposed. The proposed robot with two rotary trowels does not require any mechanism such as wheels to obtain driving forces. When the robot flattens a concrete floor with its two rotating trowels, the unbalanced friction forces occur between the trowels and the concrete floor. These friction forces are used to move the robot. Thus, the robot can move in any direction by controlling the two rotary trowels properly. In this paper, firstly the driving force for each trowel is computed by deriving the friction force between the trowel and the concrete floor. Secondly, the relationship between the driving force for the robot and the control variable of the robot is derived. Finally, the basic motions of the robot are realized by using the obtained relationship. This paper figures out how the concrete floor finishing robot with two trowels moves and will contribute to realizing it