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Preliminary Study on the Rolling Locomotion of Variable Topology Truss Robot Using Dynamic Characteristics
- Authors
- Kim, Hanbom; Bae, Jangho; Yim, Mark; Seo, TaeWon
- Issue Date
- Feb-2024
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- dynamic model; rolling locomotion; simulation; trajectory control
- Citation
- 2024 2nd International Conference on Mechatronics, Control and Robotics, ICMCR 2024, pp 33 - 37
- Pages
- 5
- Indexed
- SCOPUS
- Journal Title
- 2024 2nd International Conference on Mechatronics, Control and Robotics, ICMCR 2024
- Start Page
- 33
- End Page
- 37
- ISSN
- 0000-0000
- Abstract
- This paper presents a preliminary study on the development of dynamic rolling locomotion for Variable Topology Truss (VTT) robots. Rolling locomotion allows the robot to move in any direction, which is advantageous for various terrains. However, they are constantly affected by the relatively slow speed and impact. We propose the 2D and 3D dynamic models with a contact force simulation. Based on the calculation, the simulation model could show the movement of VTT.
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Related Researcher
- Seo, Taewon
- COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)