Kenji Kimura1, Kazuo Ishii2
1Department of Control Engineering, Matsue College of Technology, 14-4,
Nishi-ikumacho, Matsue,Shimane, 690-8518, Japan
2Graduate School of Life Science and engineering, Kyusyu Institute of Technology,
2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Fukuoka, Japan
pp. 87–92
ABSTRACT
Previous spherical mobile robots were driven by two rollers with a fixed
rotational axis, which restricts the angular velocity vector of the sphere
to two dimensions. Three-dimensional freedom is expected to improve the
rotational diversity of the sphere. This study proposes a spherical mobile
robot with a variable roller-rotational axis that allows the movement of
three degrees of freedom. Furthermore, the kinetic energy of transporting
the sphere by the rollers is minimized by an optimization procedure and
it is shown that the kinetic energy of sphere transport is efficient
Keywords:Angular velocity vector of the sphere, Angle of sphere rotational axis, Total
kinetic energy:
ARTICLE INFO
Article History
Received 10 November 2020
Accepted 20 Junel 2022
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