Omni-Directional Rolling Robots with Pneumatic Expandable Cube Modules
A novel cube-shaped,pneumatic based reconfigurable robot module called expandable cube (E-Cube) is proposed.By replacing the twelve edges of a cube with pneumatic cylinders,the E-Cube that has three degrees of freedom is constructed.The analysis of omni-directional locomotion properties of the constructed robots are the main focus of this paper.The construction description and potential binary control strategy of an E-Cube,and the connection and expansion of the E-Cube modules are presented.The dynamic rolling simulation,the static rolling condition and the omni-directional locomotion gaits of an eight E-Cube modules construction are described and discussed.The experimental pneumatic based robotic system is built,and the rolling and turning experiments of the eight E-Cube modules Construction is carried out.The experiment results verify the feasibility of the pneumatic actuation,binary control strategy and omni-directional locomotion.As an extension,the dynamic rolling simulation and the detailed static rolling condition of the thirty-two E-Cube modules Construction are analyzed.
Expandable cube Modular robot Locomotion analysis Binary control strategy
Wan Ding Jianxu Wu Yan-an Yao
School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing,100044,P.R.China
国际会议
天津
英文
1-9
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）