A Palm-Sized Omnidirectional Mobile Robot Driven by 2-DOF Torus Wheels

Yunosuke Sato, Ayato Kanada, Tomoaki Mashimo

Research output: Contribution to journalArticlepeer-review

Abstract

This paper proposes a palm-sized omnidirectional mobile robot with two torus wheels. A single torus wheel is made of an elastic elongated coil spring in which the two ends of the coil connected each other and is driven by a piezoelectric actuator (stator) that can generate 2-degrees-of-freedom (axial and angular) motions. The stator converts its thrust force and torque into longitudinal and meridian motions of the torus wheel, respectively, making the torus work as an omnidirectional wheel on a plane. In this paper, we build a control system of a piezo-driven 2-degrees-of-freedom torus wheel and evaluate its performance measures, such as the transient characteristics, the orientation accuracy and the payload capacity. An omnidirectional robot with the two torus wheels is constructed, and the feedback control for a desired planar motion is demonstrated. The design inspired by a ring torus represents the possibility toward the creation of an unprecedentedly simple, light, and compact 2-wheel omnidirectional robot.

Original languageEnglish
Pages (from-to)1-8
Number of pages8
JournalIEEE Robotics and Automation Letters
DOIs
Publication statusAccepted/In press - 2022

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence

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