Motion Rectification for an Homeostasis-Enabling Wheel

Afman, Juan-Pablo; Mote, Mark; Féron, Éric

doi:10.48550/arxiv.1705.04399

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2019

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“…Some of these modalities are biologically inspired, as, for instance, in the case of batbots [2], brachiating robots [3], or robotic bees [4]. Others, instead, are the result of attempts to enhance human capabilities, the most remarkable example of which being the wheel [5].…”

Section: Introductionmentioning

confidence: 99%

A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot

Notomista

Mayya

Mazumdar

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we discuss the conditions under which these models can be employed to describe the motion of brushbots. Then, we present two designs of brushbots: a fully-actuated platform and a differential-drive-like one. The former is employed to experimentally validate both the developed theoretical models and the devised motion control algorithms. Finally, a coordinated-control algorithm is implemented on a swarm of differential-drive-like brushbots in order to demonstrate the design simplicity and robustness that can be achieved employing a vibration-based locomotion strategy.This work has been submitted to the IEEE for possible publication.

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