Mechanism and Control of a One-Actuator Mobile Robot Incorporating a Torque Limiter

Ito, Satoshi; Sugiura, Shoya; Masuda, Yuya; Nohara, Shumpei; Morita, Ryosuke

doi:10.1007/s10846-019-01036-8

Cited by 12 publications

(5 citation statements)

References 18 publications

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“…The researchers in Ito et al [16] presented a novel mechanism for a caster-wheeled robot with a single actuator. Utilizing a sinusoidal rotor rotation, the robot can move forward, and by adding an offset to the actuator's signal, a curved motion path is achieved.…”

Section: B Single Actuated Mobile-robotsmentioning

confidence: 99%

“…The design introduced here: 1) Unlike others, it is capable of rotating on its own axis as well as turning in any radius of curvature. 2) Has a single moving part (and so is [17]; but unlike all others: 4 in [16], 5 in [18], 8 in [14] and 12 in [15]). 3) Can carry payloads of up to 5 times its own weight, as reported in [17] (compared with 2 in [18]) 4) Low power consumption of 0.64W which only underperformes 0.178W in [15] (compared with 3.2W in [17], 20W in [14]).…”

Section: Motivation and Contributionmentioning

confidence: 99%

“…5) The MonoBot's striding speed is low. Provided in body lengths per second it is 0.3 compared with 0.3 in [16]; 2 in [15]; 4 in [14]; and both [17] [18] with 14.…”

Section: Butmentioning

confidence: 99%

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MonoBot: A Single-Actuator Walking Robot

Lax,

Medina,

Shvalb

2024

IEEE Access

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This paper introduces the design and analysis of novel planar mobile robot operated by a single actuator. Distinct from conventional multi-actuator designs, this robot achieves both walking and turning motions through a single actuator mechanism, thereby simplifying construction and control. The design focuses on mechanical and electronic minimalism and efficiency. We formulate the governing dynamic equations using Euler-Lagrange formalism by which we optimize the robot's design. The study concludes with a series of experiments that demonstrate the robot's translation and rotation.INDEX TERMS Mobile robot, Walking robot, Single actuator, Dynamic analysis, Euler-Lagrange equations. .

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Section: B Single Actuated Mobile-robotsmentioning

confidence: 99%

Section: Motivation and Contributionmentioning

confidence: 99%

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MonoBot: A Single-Actuator Walking Robot

Lax,

Medina,

Shvalb

2024

IEEE Access

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“…Pursuing this objective automatically implies a variety of technical challenges that go far beyond a careful motion planning and smart control of the robotic system, even if significant advances were made in this sense [3]: on-line path planning [4], innovative use of sensors [5], and development of localization strategies [6] are examples of the fields that caught the attention of the research community. Alongside with such aspects, also the mechanical design plays a role of paramount importance [7,8], together with the development of dedicated models able to simulate mechanical system [9,10]. In the past, a class of robots was exploited more than others for domestic use, namely, those owning two fixed driven wheels, also known as differential-drive robots.…”

Section: Introductionmentioning

confidence: 99%

“…Machines 2021, 9, x FOR PEER REVIEW 2 of 15 that caught the attention of the research community. Alongside with such aspects, also the mechanical design plays a role of paramount importance [7,8], together with the development of dedicated models able to simulate mechanical system [9,10]. In the past, a class of robots was exploited more than others for domestic use, namely, those owning two fixed driven wheels, also known as differential-drive robots.…”

Section: Introductionmentioning

confidence: 99%

On the Suspension Design of Paquitop, a Novel Service Robot for Home Assistance Applications

et al. 2021

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The general and constant ageing of the world population that has been observed in the last decade has led robotics researchers community to focus its aims to answer the ever-growing demand for health care, housing, care-giving, and social security. Among others, the researchers at Politecnico di Torino are developing a novel platform to enhance the performance offered by present-day issues, and to assess many others which were not even taken into consideration before they have been highlighted by the pandemic emergency currently in progress. This situation, in fact, made dramatically clear how important it is to have reliable non-human operators whom one can trust when the life of elderly or weak patients is endangered by the simple presence of other people. The platform, named Paquitop, features an innovative architecture conceived for omni-directional planar motion. The machine is designed for domestic, unstructured, and variously populated environments. Therefore, the mobile robot should be able to avoid or pass over small obstacles, passing through the capability to achieve specific person tracking tasks, and arriving to the need of operating with an high dynamic performance. Given its purpose, this work addresses the design of the suspension system which enables the platform to ensure a steady floor contact and adequate stability in every using condition. Different configurations of such system are then presented and compared through use-case simulations.

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