The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

KisBot II : New Spherical Robot with Curved Two-pendulum Driving Mechanism

두 개의 곡선형 펜들럼 주행 메커니즘을 갖는 구형로봇

  • 윤중철 (경북대학교 IT대학 전자공학부) ;
  • 안성수 ((재)대구기계부품연구원) ;
  • 이연정 (경북대학교 IT대학 전자공학부)
  • Received : 2011.08.10
  • Accepted : 2011.11.10
  • Published : 2011.11.30
Download PDF
⟨ Previous Next ⟩

Abstract

Due to the limited pendulum motion range, the conventional one-pendulum driven spherical robot has limited driving capability. Especially it can not drive parallel direction with center horizontal axis to which pendulum is attached from stationary state. To overcome the limited driving capability of one-pendulum driven spherical robot, we introduce a spherical robot, called KisBot II, with a new type of curved two-pendulum driving mechanism. A cross-shape frame of the robot is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each curved 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, turning capability in place and during travelling, and four directions including forward, backward, left, and right from stationary status. Experiments for several motions verify the driving efficiency of the proposed spherical robot.

Keywords

References

  1. R. Armour and J. Vincent, "Rolling in nature and robotics: a review", Journal of Bionic Engineering, vol. 3, pp.195-208, 2006 https://doi.org/10.1016/S1672-6529(07)60003-1
  2. A. Halme, T. Schonberg, and Y. Wang, "Motion Control of a Spherical Mobile Robot", 4th IEEE International Workshop on Advanced Motion Control AMC'96, Mie University, Japan, vol. 1, pp.259-264, March, 1996.
  3. A. Bicchi and A. Balluch, "Introducing the 'SPHERICLE' : an experimental testbed for research and teaching in nonholonomy", Proceedings of the 1997 IEEE Int. Conf. Robotics and Automation, Albuquerque, USA, vol. 3, pp.2620- 2625, April, 1997.
  4. A. Javadi and P. Mojabi, "Introducing august: a novel strategy for an omnidirectional spherical Rolling Robot", Proceedings of IEEE Int. Conf. Robotics and Automation, Washington DC, USA, vol. 4, pp. 3527-3533, May, 2002.
  5. S. Bhattacharya and S. Agrawal, "Design, experiments and motion planning of a spherical rolling robot", Proceedings of IEEE Int. Conf. Robotics and Automation, San Francisco, USA, vol. 2, pp. 1207-1212, April, 2000.
  6. Francois Michaud and Serge Caron, "Roball: the rolling robot", Autonomous Robot, vol.12, pp. 211-222, 2002 https://doi.org/10.1023/A:1014005728519
  7. J.O. Kim, H. J. Kwon, and J. H. Lee, "A Rolling Robot: Design and Implementation", Proceedings of the 7th Asian Control Conf., Hong Kong, China, pp. 1474-1479, August, 2009.
  8. Qiang Zhan, Tingzhi Zhou, Ming Chen, and Sanlong Cai, "Dynamic Trajectory Planning of a Spherical Mobile Robot", 2006 IEEE Conf. on Robotics, Automation and Mechatronics, Bangkok, Thailand, pp. 1-6, June, 2006.
  9. M. Nagai, "Control system for spherical robot", Master's thesis, Helsinki University of Technology, 2008
  10. "Rotundus," http://www.rotundus.se
  11. 안성수, 김영민, 이연정, "두 팔을 가지는 변형 가능한 구형로봇", 제어․로봇․시스템학회 제16권, 제 11호, pp. 1060‐1067, 11, 2010.
  12. Bo Zhao, Mantian Li, Haitao Yu, Haiyan Hu, and Lining Sun, "Dynamics and motion control of a two pendulums driven spherical robot", The 2010 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Taipei, Taiwan, pp. 147-153, October, 2010.
  13. A. Ghanbari, S. Mahboubi, and M. M. S. Fakhrabadi, "Design, dynamic modeling and simulation of a spherical mobile robot with a novel motion mechanism", 2010 IEEE/ASME Int. Conf. Mechatronics and Embedded Systems and Applications (MESA), Qingdao, China, pp. 434-439, July, 2010.
  14. Joong-Cheol Yoon, Sung-Su Ahn, and Yun-Jung Lee, "Spherical Robot with New Type of Two- Pendulum Driving Mechanism", 2011 15th IEEE Int. Conf. Intelligent Engineering Systems (INES), Poprad, Slovakia, pp. 275-279, June, 2011