No abstract

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. . 두 번째는 1997년에 Bicchi 등이 개발하였으며, 구체 내부에 바퀴구 동형 로봇을 포함하는 구조이다 [3] . 세 번째는 Javadi에 의 해 개발된 구형로봇은 로봇의 내부에 고정된 내부 추진 . 다섯 번째는 로봇 내부의 수평축(horizontal axis) 중심에 위치한 하나의 펜들럼(one-pendulum)을 움 직여 로봇의 전체적인 무게중심에 변화를 주어 이때 발 생되는 추진력을 이용하여 움직이게 된다 [6] . 이 구동 메 커니즘은 여러 다른 구형로봇에도 적용된 바 있다 [7][8][9][10] .