TY - GEN
T1 - Spherical robot with new type of two-pendulum driving mechanism
AU - Yoon, Joong Cheol
AU - Ahn, Sung Su
AU - Lee, Yun Jung
PY - 2011
Y1 - 2011
N2 - This paper introduces a spherical robot, called KisBot II, with a new type of two-pendulum driving mechanism. A cross-shape frame is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each pendulum is connected to the end of the other axis of the frame respectively. The main axis and pendulums can rotate 360 degrees inside the sphere orthogonally without interfering with each other, also the two pendulums can rotate identically or independent of each other. Due to this driving mechanism, KisBot II has various motion generation abilities, including a fast steering ability, turning ability in place and during travelling, and four(forward / backward / left / right) directional driving ability on the ground. Experiments for several motions verify the driving efficiency of the proposed spherical robot.
AB - This paper introduces a spherical robot, called KisBot II, with a new type of two-pendulum driving mechanism. A cross-shape frame is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each pendulum is connected to the end of the other axis of the frame respectively. The main axis and pendulums can rotate 360 degrees inside the sphere orthogonally without interfering with each other, also the two pendulums can rotate identically or independent of each other. Due to this driving mechanism, KisBot II has various motion generation abilities, including a fast steering ability, turning ability in place and during travelling, and four(forward / backward / left / right) directional driving ability on the ground. Experiments for several motions verify the driving efficiency of the proposed spherical robot.
UR - http://www.scopus.com/inward/record.url?scp=80051725101&partnerID=8YFLogxK
U2 - 10.1109/INES.2011.5954758
DO - 10.1109/INES.2011.5954758
M3 - Conference contribution
AN - SCOPUS:80051725101
SN - 9781424489565
T3 - INES 2011 - 15th International Conference on Intelligent Engineering Systems, Proceedings
SP - 275
EP - 279
BT - INES 2011 - 15th International Conference on Intelligent Engineering Systems, Proceedings
T2 - 15th International Conference on Intelligent Engineering Systems, INES 2011
Y2 - 23 June 2011 through 25 June 2011
ER -