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Rolling robot with radial extending legs

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4 Author(s)
Gheorghe, V. ; Dept. of Mech. Eng. & Mechatron., Politeh. Univ. of Bucharest, Bucharest, Romania ; Alexandrescu, N. ; Duminica, D. ; Cartal, L.A.

The paper presents the construction of a rolling robot able to move in the horizontal plane due to an original structure of a regular dodecahedron shape with twelve extending legs disposed in a radial manner in the centers of its faces. A mathematical model is developed and the robot functioning is simulated. Simulation results were validated by preliminary testing. A control algorithm developed by the authors takes advantage of the symmetric shape of the robot and allows recovering from perturbations, thus increasing the resilience of the robotic system.

Published in:

Resilient Control Systems (ISRCS), 2010 3rd International Symposium on

Date of Conference:

10-12 Aug. 2010