Inertially Actuated Baton Locomotor

Abstract

In this paper, we present a robotic locomotor with inertia-based actuation. The goal of this system is to generate various gait modes of a baton, consisting of two masses connected with a massless rod. First, a model for a baton prototype called Pony I is presented. This model incorporates the inertial forces generated by a rotating single pendulum. The model also accounts for the friction forces that arise in the contact points of the baton with the ground surface. We also developed an experimental prototype for a baton with a single-pendulum actuator. Consequently, we compared the nonlinear dynamics of the analytical and experimental systems. An improved double-pendulum actuation system was proposed for better regulation of the locomotion of the system and the orientation of the centrifugal force. Finally, demonstrated that this system generated steady forward locomotion.

Modeling, design, and implementation of a baton robot with double-action inertial actuation

“…The horizontal dashed line represents the undeformed length of the springs, L s , and sets the level at which the baton's ends start interacting with the ground. For the single-pendulum actuator described in [24], the inertial force generated by the rotation of the pendulum-like arm has a magnitude of jF ca j ¼ m a L a x 2 a . The direction of that force points towards the eccentric mass, varying with the rotation angle.…”

“…This robot employs inertial actuation instead of the impulsive one proposed in [26,27]. We found out that there are serious challenges in developing impulsive actuators [28]. The inertial actuation system of Pony I consists of a spinning mass/pendulum mounted at one end of the baton.…”

“…This robot represents a baton system, which was previously developed in [24] based on the theory presented by Tavakoli and Hurmuzlu in [25]. A baton is a member of a family tree of robotic mechanisms.…”

“…The inertial actuation system of Pony I consists of a spinning mass/pendulum mounted at one end of the baton. A numerical model of Pony I and the prototype presented in [24] indeed generated tapping gait with forward progression. This type of gait can be described as one end of the baton is hopping, while the other is in contact with the walking surface.…”