The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of Roller Wheel Mobile Robot

롤러형 바퀴를 갖는 이동로봇 개발

  • Kim, Soon-Cheol (Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Yi, Soo-Yeong (Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Choi, Jae-Suk (Electrical and Information Engineering, Seoul National University of Science and Technology)
  • Received : 2014.07.30
  • Accepted : 2014.10.07
  • Published : 2014.11.28
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Abstract

In this paper, a new mobile robot, so called a rollerbot, is presented, which has single body and rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energy consumption in motion because of the reduced friction. By changing center of mass using a balancing weight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot in this paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center of mass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.

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References

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  1. Slip Ratio Reduction and Moving Balance Control of a Ball-bot using Mecanum Wheel vol.10, pp.4, 2015, https://doi.org/10.7746/jkros.2015.10.4.186