MonoBot: A Single-Actuator Walking Robot
This paper introduces the design and analysis of novel planar mobile robot operated by a single actuator. Distinct from conventional multi-actuator designs, this robot achieves both walking and turning motions through a single actuator mechanism, thereby simplifying construction and control. The des...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10494537/ |
| Summary: | This paper introduces the design and analysis of novel planar mobile robot operated by a single actuator. Distinct from conventional multi-actuator designs, this robot achieves both walking and turning motions through a single actuator mechanism, thereby simplifying construction and control. The design focuses on mechanical and electronic minimalism and efficiency. We formulate the governing dynamic equations using Euler-Lagrange formalism by which we optimize the robot’s design. The study concludes with a series of experiments that demonstrate the robot’s translation and rotation. |
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| ISSN: | 2169-3536 |