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
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739494
