Development and control of all direction jumping and rolling spherical robot

This paper describes new mechanisms, principle, control methods and experimental results of the jumping and rolling spherical robot which has not any projection. The robot consists of spherical mono wheel, internal drive unit and internal jumping mechanism using a compression coil spring. Straight r...
Ausführliche Beschreibung

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Autor*in:	Jun FUJIOKA [verfasserIn] Seigo NAKAMURA [verfasserIn] Hiroaki SEKI [verfasserIn]

Format:	E-Artikel
Sprache:	Japanisch

Erschienen:	2015

Schlagwörter:	spherical monowheel robot moving robot jumping robot stair-climbing rescue robot

Übergeordnetes Werk:	In: Nihon Kikai Gakkai ronbunshu - The Japan Society of Mechanical Engineers, 2022, 82(2015), 833, Seite 15-00146-15-00146
Übergeordnetes Werk:	volume:82 ; year:2015 ; number:833 ; pages:15-00146-15-00146

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1299/transjsme.15-00146

Katalog-ID:	DOAJ083880798

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spelling	10.1299/transjsme.15-00146 doi (DE-627)DOAJ083880798 (DE-599)DOAJ82eadfa2166c46a7893bb79dec6e4a2c DE-627 ger DE-627 rakwb jpn TJ1-1570 TA213-215 Jun FUJIOKA verfasserin aut Development and control of all direction jumping and rolling spherical robot 2015 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper describes new mechanisms, principle, control methods and experimental results of the jumping and rolling spherical robot which has not any projection. The robot consists of spherical mono wheel, internal drive unit and internal jumping mechanism using a compression coil spring. Straight running is performed by movement of the centroid when the drive unit moves along the inner surface of the spherical wheel, and turning is performed by rotating of the drive unit and friction torque of the spherical wheel with the ground. Theoretical result of straight running and turning movement coincide with experimental results of the robot. Jumping movement is caused by impact force between whole internal mechanisms and the inner surface of the spherical wheel by releasing stored energy in the spring. It was confirmed experimentally that the new robot has high jumping faculty in addition to the basic movement of spherical robot. Furthermore, jumping in any oblique direction is performed by control the posture of internal mechanism, and it becomes possible for the robot to go up the steps of stairs in this way. Therefore, we conclude that the all direction jumping and rolling spherical robot which has not any projection is achieved, and expect that the robot is useful as a rescue robot which can correspond to a variety of use environments. spherical monowheel robot moving robot jumping robot stair-climbing rescue robot Mechanical engineering and machinery Engineering machinery, tools, and implements Seigo NAKAMURA verfasserin aut Hiroaki SEKI verfasserin aut In Nihon Kikai Gakkai ronbunshu The Japan Society of Mechanical Engineers, 2022 82(2015), 833, Seite 15-00146-15-00146 (DE-627)1028882408 21879761 nnns volume:82 year:2015 number:833 pages:15-00146-15-00146 https://doi.org/10.1299/transjsme.15-00146 kostenfrei https://doaj.org/article/82eadfa2166c46a7893bb79dec6e4a2c kostenfrei https://www.jstage.jst.go.jp/article/transjsme/82/833/82_15-00146/_pdf/-char/en kostenfrei https://doaj.org/toc/2187-9761 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 82 2015 833 15-00146-15-00146
allfields_unstemmed	10.1299/transjsme.15-00146 doi (DE-627)DOAJ083880798 (DE-599)DOAJ82eadfa2166c46a7893bb79dec6e4a2c DE-627 ger DE-627 rakwb jpn TJ1-1570 TA213-215 Jun FUJIOKA verfasserin aut Development and control of all direction jumping and rolling spherical robot 2015 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper describes new mechanisms, principle, control methods and experimental results of the jumping and rolling spherical robot which has not any projection. The robot consists of spherical mono wheel, internal drive unit and internal jumping mechanism using a compression coil spring. Straight running is performed by movement of the centroid when the drive unit moves along the inner surface of the spherical wheel, and turning is performed by rotating of the drive unit and friction torque of the spherical wheel with the ground. Theoretical result of straight running and turning movement coincide with experimental results of the robot. Jumping movement is caused by impact force between whole internal mechanisms and the inner surface of the spherical wheel by releasing stored energy in the spring. It was confirmed experimentally that the new robot has high jumping faculty in addition to the basic movement of spherical robot. Furthermore, jumping in any oblique direction is performed by control the posture of internal mechanism, and it becomes possible for the robot to go up the steps of stairs in this way. Therefore, we conclude that the all direction jumping and rolling spherical robot which has not any projection is achieved, and expect that the robot is useful as a rescue robot which can correspond to a variety of use environments. spherical monowheel robot moving robot jumping robot stair-climbing rescue robot Mechanical engineering and machinery Engineering machinery, tools, and implements Seigo NAKAMURA verfasserin aut Hiroaki SEKI verfasserin aut In Nihon Kikai Gakkai ronbunshu The Japan Society of Mechanical Engineers, 2022 82(2015), 833, Seite 15-00146-15-00146 (DE-627)1028882408 21879761 nnns volume:82 year:2015 number:833 pages:15-00146-15-00146 https://doi.org/10.1299/transjsme.15-00146 kostenfrei https://doaj.org/article/82eadfa2166c46a7893bb79dec6e4a2c kostenfrei https://www.jstage.jst.go.jp/article/transjsme/82/833/82_15-00146/_pdf/-char/en kostenfrei https://doaj.org/toc/2187-9761 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 82 2015 833 15-00146-15-00146
allfieldsGer	10.1299/transjsme.15-00146 doi (DE-627)DOAJ083880798 (DE-599)DOAJ82eadfa2166c46a7893bb79dec6e4a2c DE-627 ger DE-627 rakwb jpn TJ1-1570 TA213-215 Jun FUJIOKA verfasserin aut Development and control of all direction jumping and rolling spherical robot 2015 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper describes new mechanisms, principle, control methods and experimental results of the jumping and rolling spherical robot which has not any projection. The robot consists of spherical mono wheel, internal drive unit and internal jumping mechanism using a compression coil spring. Straight running is performed by movement of the centroid when the drive unit moves along the inner surface of the spherical wheel, and turning is performed by rotating of the drive unit and friction torque of the spherical wheel with the ground. Theoretical result of straight running and turning movement coincide with experimental results of the robot. Jumping movement is caused by impact force between whole internal mechanisms and the inner surface of the spherical wheel by releasing stored energy in the spring. It was confirmed experimentally that the new robot has high jumping faculty in addition to the basic movement of spherical robot. Furthermore, jumping in any oblique direction is performed by control the posture of internal mechanism, and it becomes possible for the robot to go up the steps of stairs in this way. Therefore, we conclude that the all direction jumping and rolling spherical robot which has not any projection is achieved, and expect that the robot is useful as a rescue robot which can correspond to a variety of use environments. spherical monowheel robot moving robot jumping robot stair-climbing rescue robot Mechanical engineering and machinery Engineering machinery, tools, and implements Seigo NAKAMURA verfasserin aut Hiroaki SEKI verfasserin aut In Nihon Kikai Gakkai ronbunshu The Japan Society of Mechanical Engineers, 2022 82(2015), 833, Seite 15-00146-15-00146 (DE-627)1028882408 21879761 nnns volume:82 year:2015 number:833 pages:15-00146-15-00146 https://doi.org/10.1299/transjsme.15-00146 kostenfrei https://doaj.org/article/82eadfa2166c46a7893bb79dec6e4a2c kostenfrei https://www.jstage.jst.go.jp/article/transjsme/82/833/82_15-00146/_pdf/-char/en kostenfrei https://doaj.org/toc/2187-9761 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 82 2015 833 15-00146-15-00146
allfieldsSound	10.1299/transjsme.15-00146 doi (DE-627)DOAJ083880798 (DE-599)DOAJ82eadfa2166c46a7893bb79dec6e4a2c DE-627 ger DE-627 rakwb jpn TJ1-1570 TA213-215 Jun FUJIOKA verfasserin aut Development and control of all direction jumping and rolling spherical robot 2015 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper describes new mechanisms, principle, control methods and experimental results of the jumping and rolling spherical robot which has not any projection. The robot consists of spherical mono wheel, internal drive unit and internal jumping mechanism using a compression coil spring. Straight running is performed by movement of the centroid when the drive unit moves along the inner surface of the spherical wheel, and turning is performed by rotating of the drive unit and friction torque of the spherical wheel with the ground. Theoretical result of straight running and turning movement coincide with experimental results of the robot. Jumping movement is caused by impact force between whole internal mechanisms and the inner surface of the spherical wheel by releasing stored energy in the spring. It was confirmed experimentally that the new robot has high jumping faculty in addition to the basic movement of spherical robot. Furthermore, jumping in any oblique direction is performed by control the posture of internal mechanism, and it becomes possible for the robot to go up the steps of stairs in this way. Therefore, we conclude that the all direction jumping and rolling spherical robot which has not any projection is achieved, and expect that the robot is useful as a rescue robot which can correspond to a variety of use environments. spherical monowheel robot moving robot jumping robot stair-climbing rescue robot Mechanical engineering and machinery Engineering machinery, tools, and implements Seigo NAKAMURA verfasserin aut Hiroaki SEKI verfasserin aut In Nihon Kikai Gakkai ronbunshu The Japan Society of Mechanical Engineers, 2022 82(2015), 833, Seite 15-00146-15-00146 (DE-627)1028882408 21879761 nnns volume:82 year:2015 number:833 pages:15-00146-15-00146 https://doi.org/10.1299/transjsme.15-00146 kostenfrei https://doaj.org/article/82eadfa2166c46a7893bb79dec6e4a2c kostenfrei https://www.jstage.jst.go.jp/article/transjsme/82/833/82_15-00146/_pdf/-char/en kostenfrei https://doaj.org/toc/2187-9761 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 82 2015 833 15-00146-15-00146
language	Japanese
source	In Nihon Kikai Gakkai ronbunshu 82(2015), 833, Seite 15-00146-15-00146 volume:82 year:2015 number:833 pages:15-00146-15-00146
sourceStr	In Nihon Kikai Gakkai ronbunshu 82(2015), 833, Seite 15-00146-15-00146 volume:82 year:2015 number:833 pages:15-00146-15-00146
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	spherical monowheel robot moving robot jumping robot stair-climbing rescue robot Mechanical engineering and machinery Engineering machinery, tools, and implements
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container_title	Nihon Kikai Gakkai ronbunshu
authorswithroles_txt_mv	Jun FUJIOKA @@aut@@ Seigo NAKAMURA @@aut@@ Hiroaki SEKI @@aut@@
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callnumber-first	T - Technology
author	Jun FUJIOKA
spellingShingle	Jun FUJIOKA misc TJ1-1570 misc TA213-215 misc spherical monowheel robot misc moving robot misc jumping robot misc stair-climbing misc rescue robot misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements Development and control of all direction jumping and rolling spherical robot
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topic_title	TJ1-1570 TA213-215 Development and control of all direction jumping and rolling spherical robot spherical monowheel robot moving robot jumping robot stair-climbing rescue robot
topic	misc TJ1-1570 misc TA213-215 misc spherical monowheel robot misc moving robot misc jumping robot misc stair-climbing misc rescue robot misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements
topic_unstemmed	misc TJ1-1570 misc TA213-215 misc spherical monowheel robot misc moving robot misc jumping robot misc stair-climbing misc rescue robot misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements
topic_browse	misc TJ1-1570 misc TA213-215 misc spherical monowheel robot misc moving robot misc jumping robot misc stair-climbing misc rescue robot misc Mechanical engineering and machinery misc Engineering machinery, tools, and implements
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title	Development and control of all direction jumping and rolling spherical robot
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title_full	Development and control of all direction jumping and rolling spherical robot
author_sort	Jun FUJIOKA
journal	Nihon Kikai Gakkai ronbunshu
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author_browse	Jun FUJIOKA Seigo NAKAMURA Hiroaki SEKI
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title_sort	development and control of all direction jumping and rolling spherical robot
callnumber	TJ1-1570
title_auth	Development and control of all direction jumping and rolling spherical robot
abstract	This paper describes new mechanisms, principle, control methods and experimental results of the jumping and rolling spherical robot which has not any projection. The robot consists of spherical mono wheel, internal drive unit and internal jumping mechanism using a compression coil spring. Straight running is performed by movement of the centroid when the drive unit moves along the inner surface of the spherical wheel, and turning is performed by rotating of the drive unit and friction torque of the spherical wheel with the ground. Theoretical result of straight running and turning movement coincide with experimental results of the robot. Jumping movement is caused by impact force between whole internal mechanisms and the inner surface of the spherical wheel by releasing stored energy in the spring. It was confirmed experimentally that the new robot has high jumping faculty in addition to the basic movement of spherical robot. Furthermore, jumping in any oblique direction is performed by control the posture of internal mechanism, and it becomes possible for the robot to go up the steps of stairs in this way. Therefore, we conclude that the all direction jumping and rolling spherical robot which has not any projection is achieved, and expect that the robot is useful as a rescue robot which can correspond to a variety of use environments.
abstractGer	This paper describes new mechanisms, principle, control methods and experimental results of the jumping and rolling spherical robot which has not any projection. The robot consists of spherical mono wheel, internal drive unit and internal jumping mechanism using a compression coil spring. Straight running is performed by movement of the centroid when the drive unit moves along the inner surface of the spherical wheel, and turning is performed by rotating of the drive unit and friction torque of the spherical wheel with the ground. Theoretical result of straight running and turning movement coincide with experimental results of the robot. Jumping movement is caused by impact force between whole internal mechanisms and the inner surface of the spherical wheel by releasing stored energy in the spring. It was confirmed experimentally that the new robot has high jumping faculty in addition to the basic movement of spherical robot. Furthermore, jumping in any oblique direction is performed by control the posture of internal mechanism, and it becomes possible for the robot to go up the steps of stairs in this way. Therefore, we conclude that the all direction jumping and rolling spherical robot which has not any projection is achieved, and expect that the robot is useful as a rescue robot which can correspond to a variety of use environments.
abstract_unstemmed	This paper describes new mechanisms, principle, control methods and experimental results of the jumping and rolling spherical robot which has not any projection. The robot consists of spherical mono wheel, internal drive unit and internal jumping mechanism using a compression coil spring. Straight running is performed by movement of the centroid when the drive unit moves along the inner surface of the spherical wheel, and turning is performed by rotating of the drive unit and friction torque of the spherical wheel with the ground. Theoretical result of straight running and turning movement coincide with experimental results of the robot. Jumping movement is caused by impact force between whole internal mechanisms and the inner surface of the spherical wheel by releasing stored energy in the spring. It was confirmed experimentally that the new robot has high jumping faculty in addition to the basic movement of spherical robot. Furthermore, jumping in any oblique direction is performed by control the posture of internal mechanism, and it becomes possible for the robot to go up the steps of stairs in this way. Therefore, we conclude that the all direction jumping and rolling spherical robot which has not any projection is achieved, and expect that the robot is useful as a rescue robot which can correspond to a variety of use environments.
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container_issue	833
title_short	Development and control of all direction jumping and rolling spherical robot
url	https://doi.org/10.1299/transjsme.15-00146 https://doaj.org/article/82eadfa2166c46a7893bb79dec6e4a2c https://www.jstage.jst.go.jp/article/transjsme/82/833/82_15-00146/_pdf/-char/en https://doaj.org/toc/2187-9761
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author2	Seigo NAKAMURA Hiroaki SEKI
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up_date	2024-07-03T19:56:59.323Z
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Development and control of all direction jumping and rolling spherical robot

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