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 |
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IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10494537/ |
| _version_ | 1797206114708750336 |
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| author | Uriya Lax Oded Medina Nir Shvalb |
| author_facet | Uriya Lax Oded Medina Nir Shvalb |
| author_sort | Uriya Lax |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-24T09:01:52Z |
| format | Article |
| id | doaj.art-783389554e674d27955e863b74f301ec |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-24T09:01:52Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-783389554e674d27955e863b74f301ec2024-04-15T23:00:43ZengIEEEIEEE Access2169-35362024-01-0112506055061210.1109/ACCESS.2024.338577910494537MonoBot: A Single-Actuator Walking RobotUriya Lax0Oded Medina1https://orcid.org/0000-0001-6590-0059Nir Shvalb2https://orcid.org/0000-0001-8246-3727Department of Mechanical Engineering, Ariel University, Ariel, IsraelDepartment of Mechanical Engineering, Ariel University, Ariel, IsraelDepartment of Mechanical Engineering, Ariel University, Ariel, IsraelThis 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.https://ieeexplore.ieee.org/document/10494537/Mobile robotwalking robotsingle actuatordynamic analysisEuler-Lagrange equations |
| spellingShingle | Uriya Lax Oded Medina Nir Shvalb MonoBot: A Single-Actuator Walking Robot IEEE Access Mobile robot walking robot single actuator dynamic analysis Euler-Lagrange equations |
| title | MonoBot: A Single-Actuator Walking Robot |
| title_full | MonoBot: A Single-Actuator Walking Robot |
| title_fullStr | MonoBot: A Single-Actuator Walking Robot |
| title_full_unstemmed | MonoBot: A Single-Actuator Walking Robot |
| title_short | MonoBot: A Single-Actuator Walking Robot |
| title_sort | monobot a single actuator walking robot |
| topic | Mobile robot walking robot single actuator dynamic analysis Euler-Lagrange equations |
| url | https://ieeexplore.ieee.org/document/10494537/ |
| work_keys_str_mv | AT uriyalax monobotasingleactuatorwalkingrobot AT odedmedina monobotasingleactuatorwalkingrobot AT nirshvalb monobotasingleactuatorwalkingrobot |