卵型ロボット内部の高速回転ジャイロで駆動する慣性アクチュエータの設計
Designing an Inertia Actuator with a Fast Rotating Gyro inside an Egg-shaped Robot
卵型の外殻内部にジンバルで支持した高速回転ジャイロを搭載し、その軸方向を変えることで慣性原理によりロボットを前進・旋回させる2種類の試作機を開発・検証した論文。
著者: Chun-Chi Wang, He-Zhi Liu, Rui-Yuan Lin, Li-Yang Lu, N. Michael Mayer
分類: cs.RO
原文アブストラクト
In this paper, we describe features of two new robot prototypes that are actuated by an actively controlled gyro (flywheel, symmetric rotor) inside a hollow sphere that is located in the middle of the robots. No external actuators are used. The outside structure of the robots and the gyro are connected by a gimbal, which is similar in structure to a control moment gyroscope in spacecrafts. The joints of the gimbal can be actuated. In this way, the orientation of axis for the gyro in relation to the egg can be changed. Since the inertia of the fast rotating gyro is large in relation to the outside structure, a relative rotation of the axis against the outside structure results in a motion of the egg by inertia principle. In this way, we can use this principle for controlling the robot to move forward and turn around. The robots are shaped as spheroidal ellipsoids so they resemble eggs. So far, we have built and tested two robot prototypes.