A deformable spherical robot with two arms

被引：0
作者：
Ahn S.-S. [1 ]
Kim Y.-M. [2 ]
Lee Y.-J. [2 ]
机构：
[1] Daegu Machinery Institute of Components and Materials, Korea, Republic of
[2] Kyungpook National University, Korea, Republic of
来源：
Journal of Institute of Control, Robotics and Systems | 2010年 / 16卷 / 11期
关键词：
Deformable robot; Hybrid driving; Motion generation; Rolling robot; Spherical robot;
D O I：
10.5302/J.ICROS.2010.16.11.1060
中图分类号：
学科分类号：
摘要：
In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot. © ICROS 2010.
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页码：1060 / 1067
页数：7
相关论文
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