著者

浦久保 孝光 門野 守 前川 聡 玉置 久

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.32, no.6, pp.543-549, 2014 (Released:2014-08-15)

参考文献数

18

被引用文献数

1 1

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This paper deals with the problem of controlling a spherical rolling robot that has a new driving mechanism equipped with a gyro. The translational motion of the robot is caused by transmission of angular momentum from the gyro to a spherical outer shell of the robot. A feedback controller that makes the robot achieve a straight motion is designed based on the equations of motion for the robot. The effectiveness of the controller is demonstrated by experimental results.