System and Method for Inducing Motion in a Rolling Robot Using a Dual Telescoping Linear Actuator
dc.date.accessioned | 2020-01-29T14:33:50Z | |
dc.date.available | 2020-01-29T14:33:50Z | |
dc.date.issued | 2019-11-12 | |
dc.identifier.uri | https://hdl.handle.net/11244/323324 | |
dc.description.abstract | An embodiment is developed for a cylindrically shaped, elliptical rolling robot that has the ability to morph its outer surface as it rolls. The morphing actuation alters lengths of the major and minor axes, resulting in a torque imbalance that rolls the robot along faster or brakes its motion. A control scheme is implemented, whereby angular position and horizontal velocity are used as feedback to trigger and define morphing actuation. A goal of the control scheme is to cause the robot to follow a given velocity profile comprised of steps and ramps. Equations of motion for the rolling robot are formulated, which include rolling resistance torque caused by deformation of the outer surface tread. A computer program solves the equations of motion, and resulting plots show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to commence from an initial position, achieve constant average velocity and slow itself. | |
dc.format | application/pdf | |
dc.format.extent | 16 pages | |
dc.language | en_US | |
dc.publisher | U.S. Patent and Trademark Office | |
dc.title | System and Method for Inducing Motion in a Rolling Robot Using a Dual Telescoping Linear Actuator | |
dc.type | Text | |
osu.filename | pat10472008.pdf | |
osu.accesstype | Open Access | |
dc.type.genre | Patent | |
dc.contributor.inventor | Rehm, Kelly | |
dc.contributor.inventor | Puopolo, Michael Gerald | |
dc.identifier.patentID | 10,472,008 | |
dc.date.filed | 2016-04-20 | |
dc.contributor.assignee | Board of Regents/Oklahoma State University and the A & M Colleges | |
dc.subject.cpcclasses | B60B 19/00 (20130101) | |
dc.subject.cpcclasses | B62D 57/00 (20130101) | |
dc.subject.cpcclasses | B60B 9/28 (20130101) | |
dc.subject.cpcclasses | B60B 3/002 (20130101) | |
dc.subject.cpcclasses | B60B 19/02 (20130101) | |
dc.subject.cpcclasses | A63H 33/005 (20130101) | |
dc.subject.cpcclasses | B60B 19/04 (20130101) | |
dc.subject.cpcclasses | B66F 3/10 (20130101) | |
dc.subject.cpcclasses | B60B 3/001 (20130101) | |
dc.subject.cpcclasses | B62D 57/022 (20130101) | |
dc.subject.cpcclasses | B60Y 2200/80 (20130101) | |
dc.subject.cpcclasses | B60Y 2200/40 (20130101) |
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