KisBot: New Spherical Robot with Arms
نویسندگان
چکیده
A new type of spherical robot, called KisBot, is presented that includes arms and two types of driving mode: rolling and wheeling. In the rolling mode, the robot uses its arms as pendulums and works like a pendulum-driven robot, while in the wheeling mode, it extends its arms to the ground and works like a one-wheel car. The basic design idea of KisBot is introduced and a prototype is implemented. The robot has a wheel-shaped body between two rotating semi-spheres. Each semi-sphere contains one DC motor for propulsion in the rolling mode and wheeling mode, one RC motor for arm extension, a speed controller for changing the direction of the arm rotation, a battery as the power source, and the mechanical components of the arm. Experiments using the rolling mode and wheeling mode verify the driving efficiency of the proposed spherical robot. Key-Words: Spherical robot, Rolling robot, Deformable robot, Locomotion, Motion generation.
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