TY - GEN
T1 - Buckybot
T2 - ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
AU - Kutzer, Michael D.M.
AU - Brown, Christopher Y.
AU - Chirikjian, Gregory S.
AU - Armand, Mehran
PY - 2014/1/1
Y1 - 2014/1/1
N2 - This paper introduces Buckybot, a novel mobile platform, and investigates its kinematics and preliminary control algorithms. Buckybot is a ground-based platform whose geometry is based on a truncated icosahedron, i.e. a soccer ball with flattened sides. The platform has 20 passive hexagonal faces on which it can stably rest, and 12 rounded pentagonal faces which can be extended linearly to tilt Buckybot. The symmetric geometry of the robot makes it operational in any configuration which is ideal for a variety of deployment scenarios including throwing or dropping. Buckybot currently locomotes using a semi-static tipping gait to move between adjacent hexagonal faces. In this work, we present the design and low-level control of the Buckybot platform, explore the kinematics associated with Buckybot's method of locomotion, experimentally characterize tipping, and investigate trajectory planning for this new mobile robot. Results demonstrate effective trajectory planning accounting for plan uncertainty.
AB - This paper introduces Buckybot, a novel mobile platform, and investigates its kinematics and preliminary control algorithms. Buckybot is a ground-based platform whose geometry is based on a truncated icosahedron, i.e. a soccer ball with flattened sides. The platform has 20 passive hexagonal faces on which it can stably rest, and 12 rounded pentagonal faces which can be extended linearly to tilt Buckybot. The symmetric geometry of the robot makes it operational in any configuration which is ideal for a variety of deployment scenarios including throwing or dropping. Buckybot currently locomotes using a semi-static tipping gait to move between adjacent hexagonal faces. In this work, we present the design and low-level control of the Buckybot platform, explore the kinematics associated with Buckybot's method of locomotion, experimentally characterize tipping, and investigate trajectory planning for this new mobile robot. Results demonstrate effective trajectory planning accounting for plan uncertainty.
UR - http://www.scopus.com/inward/record.url?scp=84961360468&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84961360468&partnerID=8YFLogxK
U2 - 10.1115/DETC201435537
DO - 10.1115/DETC201435537
M3 - Conference contribution
AN - SCOPUS:84961360468
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 38th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
Y2 - 17 August 2014 through 20 August 2014
ER -