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

摘要

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.