Motion control for a single-motor robot with an undulatory locomotion system

Single-motor locomotion systems are of interest for low-cost, small robots. In this paper, one such system is presented. The vehicle has three wheels of which only one is connected to the motor. This one can switch between two positions so the vehicle can turn to either one. As a result, it follows an undulating trajectory. An empirical motion control algorithm is also presented. The corresponding program should be embedded in the locomotion system so to make it operative. A prototype has been successfully built to validate both the locomotion system and its control.