Buckybot: A robot based on the geometry of a truncated icosahedron

Michael D.M. Kutzer, Christopher Y. Brown, Gregory S. Chirikjian, Mehran Armand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication38th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791846377
DOIs
StatePublished - Jan 1 2014
EventASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States
Duration: Aug 17 2014Aug 20 2014

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B

Other

OtherASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
CountryUnited States
CityBuffalo
Period8/17/148/20/14

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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