Work

Bimodal mobility actuated by inertial forces with surface elastic bodies in microgravity

Year: 2021

Type: article

Abstract: This paper presents bimodal mobility actuated by inertial forces with elastic bodies for an exploration robot in a microgravity environment. The proposed bimodal locomotion mechanism can selectively achieve vibration propulsion or rotational hopping mode based on centrifugal force and reaction torque exerted by the control of a single eccentric motor, where the rotational hopping is the primary locomotion mode for practical applications. The bimodal mobility performance under microgravity is experimentally examined using an air-floating testbed. Furthermore, we also present theoretical modeling of the bimodal mobility system, and the model is verified by comparison with the experiments.

Source: Robotica

DOI: 10.1017/s0263574721000539

Authors: Kenji Nagaoka, Toshiyasu Kaneko, Kazuya Yoshida

Institutions: Kyushu Institute of Technology, Tohoku University

Language: English

Topic: Robotic Locomotion and Control

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: Japan Society for the Promotion of Science

Award: Analysis on Dynamics of Ciliary Micro-Hopping Mechanism by an Eccentric Motor in a Micro-Gravity