지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.12
- 수록면
- 323 - 333 (11page)
이용수
초록· 키워드
오류제보하기
Due to the limited pendulum motion range, the conventional one-pendulum driven spherical robot has limited driving capability. Especially it can not drive parallel direction with center horizontal axis to which pendulum is attached from stationary state. To overcome the limited driving capability of one-pendulum driven spherical robot, we introduce a spherical robot, called KisBot Ⅱ, with a new type of curved two-pendulum driving mechanism. A cross-shape frame of the robot is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each curved pendulum is connected to the end of the other axis of the frame respectively. The main axis and pendulums can rotate 360 degrees inside the sphere orthogonally without interfering with each other, also the two pendulums can rotate identically or independent of each other. Due to this driving mechanism, KisBot Ⅱ has various motion generation abilities, including a fast steering, turning capability in place and during travelling, and four directions including forward, backward, left, and right from stationary status. Experiments for several motions verify the driving efficiency of the proposed spherical robot.
목차
Abstract
1. 서론
2. KisBot Ⅱ의 디자인
3. 모션생성 능력
4. 프로토타입 설계 및 제작
5. 실험 및 결과
6. 결론
참고문헌
참고문헌 (14)
참고문헌 신청
1. [학술지(정기간행물)] - R. Armour / 2006 / Rolling in nature and robotics: a review / Journal of Bionic Engineering 3 : 195 ~ 208
2. [학술대회논문] - A. Halme / 1996 / Motion Control of a Spherical Mobile Robot / 4th IEEE International Workshop on Advanced Motion Control AMC’96 : 259 ~ 264
3. [학술대회논문] - A. Bicchi / 1997 / Introducing the ‘SPHERICLE’ : an experimental testbed for research and teaching in nonholonomy / Proceedings of the 1997 IEEE Int. Conf. Robotics and Automation, Albuquerque : 2620 ~ 2625
4. [학술대회논문] - A. Javadi / 2002 / Introducing august: a novel strategy for an omnidirectional spherical Rolling Robot / Proceedings of IEEE Int. Conf. Robotics and Automation : 3527 ~ 3533
5. [학술대회논문] - S. Bhattacharya / 2000 / Design, experiments and motion planning of a spherical rolling robot / Proceedings of IEEE Int. Conf. Robotics and Automation : 1207 ~ 1212
2. [학술대회논문] - A. Halme / 1996 / Motion Control of a Spherical Mobile Robot / 4th IEEE International Workshop on Advanced Motion Control AMC’96 : 259 ~ 264
3. [학술대회논문] - A. Bicchi / 1997 / Introducing the ‘SPHERICLE’ : an experimental testbed for research and teaching in nonholonomy / Proceedings of the 1997 IEEE Int. Conf. Robotics and Automation, Albuquerque : 2620 ~ 2625
4. [학술대회논문] - A. Javadi / 2002 / Introducing august: a novel strategy for an omnidirectional spherical Rolling Robot / Proceedings of IEEE Int. Conf. Robotics and Automation : 3527 ~ 3533
5. [학술대회논문] - S. Bhattacharya / 2000 / Design, experiments and motion planning of a spherical rolling robot / Proceedings of IEEE Int. Conf. Robotics and Automation : 1207 ~ 1212
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UCI(KEPA) : I410-ECN-0101-2020-559-001259165