Steady locomotion in torso-actuated rimless wheel robots

Yasushi Iwatani, T. Takei
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Abstract

Rimless wheel robots are ground robots whose wheels have no rims or tires but only spokes. This paper considers torso-actuated wheel robots. Each robot considered in this paper is composed of a single wheel and a single torso connected to the wheel centre by an actuated revolute joint. There have been proposed several controllers for torso-actuated rimless wheel robots; however, their locomotion properties are poorly understood. For example, similarities and differences between the rimmed and the rimless wheel robots are unknown. This paper first investigates steady locomotion of a torso-actuated rimmed wheel robot theoretically. Then, steady locomotion of a torso-actuated rimless wheel robot is evaluated for various parameters by numerical simulations. Finally, similarities and differences between the rimmed and the rimless wheel robots are discussed. In particular, it is shown that the speed-maximizing posture is substantially shared among the rimmed and the rimless wheel robots. On the other hand, some other properties are not shared among them. The most significant difference is the relationship between the maximum steady speed and the wheel radius. It is concave in some parameter space for the rimless wheel robot, but is linear in the whole parameter space for the rimmed wheel robot.
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躯体驱动无框轮机器人的稳定运动
无框轮式机器人是一种地面机器人,其车轮没有轮辋或轮胎,只有辐条。本文研究了躯干驱动的轮式机器人。本文所考虑的每个机器人都由单个车轮和单个躯干组成,通过驱动的旋转关节连接到车轮中心。针对躯干驱动的无框轮机器人,已经提出了几种控制器;然而,人们对它们的运动特性知之甚少。例如,有边和无边轮式机器人之间的异同是未知的。本文首先从理论上研究了躯干驱动边缘轮机器人的稳定运动。在此基础上,通过数值模拟对躯干驱动的无框轮机器人在不同参数下的稳定运动进行了评价。最后,讨论了有边轮式和无边轮式机器人的异同。结果表明,有轮机器人和无轮机器人的速度最大化姿态基本相同。另一方面,它们之间不共享其他一些属性。最显著的差异是最大稳定速度与车轮半径之间的关系。对于无框轮式机器人,它在某些参数空间是凹的,而对于有框轮式机器人,它在整个参数空间是线性的。
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