Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot

Abstract

Single-actuator mobile robots offer the benefits of low energy consumption, low weight and size, and low cost, but their motion is typically only one-dimensional. By using auxiliary binary mechanisms that redirect and channel the driving force of their only actuator in different ways, it is possible for these robots to perform higher-dimensional motions, such as walking straight, steering, or jumping, with only one motor. This paper presents the MASAR, a new Modular And Single-Actuator Robot that carries a single motor and several adhesion pads. By alternately releasing or attaching these adhesion pads to the environment, the proposed robot is able to pivot about different axes using only one motor, with the possibility of performing concave plane transitions or combining with other identical modules to build more complex reconfigurable robots. In this paper, we solve the planar trajectory tracking problem of this robot for polygonal paths made up of sequences of segments, which may include narrow corridors that are difficult to traverse. We propose a locomotion based on performing rotations of 180 ∘ , which we demonstrate to be the minimum-time solution for long trajectories, and a near-optimal solution for shorter ones.

3D Printed Walking Robot Based on a Minimalist Approach

“…If the number of degrees of freedom is less than two, the walking robot cannot be controlled to bypass obstacles. The idea proposed in [8] is debatable whether it can be characterized by one degree of freedom as it also uses controllable couplings. In addition, it is possible to realize the movements only sequentially.…”

“…Alternative design solutions with a minimum number of mechanical elements [8] and nature-inspired robots are being sought [9]. In [10] is presented an ultralight, inexpensive two-legged robot "SLIDER" with a design of the leg without a knee.…”

“…In [8] is presented a robot with one motor and several clutches. By sequential action of the clutches, the proposed robot can rotate in different directions and can walk.…”

Path and Trajectory Planning for an Automated Carrier Vehicle Equipped with two Conveyor Belts used in Manufacturing Supply

“…Trajectory planning should also be regarded by a single-drive robot in which an electric motor drives the vehicle through a mechanism [38]. The Fuzzy and Newton-barrier method was used to plan a two-arm mobile robot trajectory developed for the study of a high-voltage transmission line [39].…”