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High-speed crawling-like locomotion robot using wobbling mass and reaction wheel

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Abstract

Aiming at generating steady and speedy locomotion on a slippery road, the authors have been investigating crawling-like locomotion robot using inner-wobbling effect. This paper discusses gaining transfer efficiency on an underactuated locomotion robot, which consists of an arc-shaped body with both a telescopic joint and a reaction wheel at the center of mass. First, we show the robot model, and then derive the equation of motion. A hierarchical control is also proposed to stabilize the dynamics. Second, we show the simulation results of a speedy locomotion on a slippery level surface. Finally, we discuss the stability of the reaction wheel motion.

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Authors and Affiliations

  1. School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa, 923-1292, Japan

    Masatsugu Nishihara & Fumihiko Asano

  2. Department of Mechanical Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga, 525-8577, Japan

    Longchuan Li

Authors
  1. Masatsugu Nishihara
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  2. Longchuan Li
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  3. Fumihiko Asano
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Correspondence to Masatsugu Nishihara.

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This work was presented in part at the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics (Okinawa, Japan, November 20–22, 2019).

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Nishihara, M., Li, L. & Asano, F. High-speed crawling-like locomotion robot using wobbling mass and reaction wheel. Artif Life Robotics 25, 624–632 (2020). https://doi.org/10.1007/s10015-020-00659-7

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  • DOI: https://doi.org/10.1007/s10015-020-00659-7

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