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Mobile robot utilizing rotational movements of the arms

Control of moving direction and reduction of collision impact

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Abstract

In this paper, we consider a mobile robot which can start to move by utilizing rotational movements of the two arms. We investigate a simulation model of the robot which moves in a planar space where there are no friction and no gravity. This robot has a special device that can fix the body to a platform constructed on a certain wall or floor. While the body is fixed to the platform, the robot can store the kinetic energy by rotating of the arms. When the body is released from the platform, the robot starts to move along the kinetic momentum of the center of mass. We propose a scheme to control the moving direction of the robot after the body is released from the platform. Furthermore, we consider the reduction capability of the robot against the impact of collision with a platform at destination.

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Authors and Affiliations

  1. Okayama University of Science, 1-1 Ridai-cho, Kita-ku, Okayama, 700-0005, Japan

    Ryota Hayashi, Yuki Tanaka, Tetsuya Kinugasa & Koji Yoshida

  2. National Institute of Technology, Kagoshima College, 1460-1 Shinko, Hayato-cho, Kirishima, 899-5193, Japan

    Yasuyuki Setoyama

Authors
  1. Ryota Hayashi
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  2. Yuki Tanaka
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  3. Yasuyuki Setoyama
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  4. Tetsuya Kinugasa
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  5. Koji Yoshida
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Corresponding author

Correspondence to Ryota Hayashi.

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This work was presented in part at the 24th International Symposium on Artificial Life and Robotics (Beppu, Oita, January 23–25, 2019).

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Hayashi, R., Tanaka, Y., Setoyama, Y. et al. Mobile robot utilizing rotational movements of the arms. Artif Life Robotics 25, 400–406 (2020). https://doi.org/10.1007/s10015-020-00607-5

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  • DOI: https://doi.org/10.1007/s10015-020-00607-5

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