Bimodal mobility actuated by inertial forces with surface elastic bodies in microgravity

Kenji Nagaoka, Toshiyasu Kaneko, Kazuya Yoshida

研究成果: Article査読

1 被引用数 (Scopus)

抄録

This paper presents bimodal mobility actuated by inertial forces with elastic bodies for an exploration robot in a microgravity environment. The proposed bimodal locomotion mechanism can selectively achieve vibration propulsion or rotational hopping mode based on centrifugal force and reaction torque exerted by the control of a single eccentric motor, where the rotational hopping is the primary locomotion mode for practical applications. The bimodal mobility performance under microgravity is experimentally examined using an air-floating testbed. Furthermore, we also present theoretical modeling of the bimodal mobility system, and the model is verified by comparison with the experiments.

本文言語English
ページ(範囲)294-315
ページ数22
ジャーナルRobotica
40
2
DOI
出版ステータスPublished - 2022 2月 11

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 数学 (全般)
  • コンピュータ サイエンスの応用

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