FRCVRotopodDemos < Main

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---++ Rotational Legged Locomotion

<img width="427" alt="uvs060411-005a.jpg" src="%ATTACHURLPATH%/uvs060411-005a.jpg" height="379" /> <img width="426" alt="planview.jpg" src="%ATTACHURLPATH%/planview.jpg" height="326" /> <img width="437" alt="sideview.jpg" src="%ATTACHURLPATH%/sideview.jpg" height="346" />

The Rotopod is a novel robot mechanism which combines the features of _wheeled_ and _legged_ locomotion in an unusual way.

This robot has the advantage of legged locomotion in stepping its 1-DOF legs over objects, but its drive mechanism is a rotating reaction mass that rotates the robot, in a controllable fashion, around each of its legs, similar to a rotating wheel. The mechanism has the potential to transfer the energy from the rotating reaction mass in an efficient manner to the legs, effecting a spinning forward motion.

When all legs are fully extended and the center arm rotating, the robot is stationary. When the length of one or more of the legs is reduced an approporiate amount, the robot may then rotate around one of its legs in contact with the ground. This 'stepping' will continue as long as the legs are maintained at these lengths.

Rotopod paper:

CLAWAR2007: 10th International Conference on Climbing and Walking Robots 16-18 July, 2007 Singapore. [[%ATTACHURL%/Lyons07_A4.pdf][Lyons07_A4.pdf]].

---++ Videos

<li>[[%ATTACHURL%/hitorque.avi][hitorque.avi]]: bouncing around at high speed </li>

<li>[[%ATTACHURL%/epicycloid_slow.avi][epicycloid_slow.avi]]: slow and deliberate steps in an epicycloid pattern </li>

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Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who
pdf	Lyons07_A4.pdf	r1	manage	576.0 K	2011-09-09 - 17:39	DamianLyons
avi	epicycloid_slow.avi	r1	manage	2079.5 K	2011-09-09 - 17:43	DamianLyons
avi	hitorque.avi	r1	manage	2752.0 K	2011-09-09 - 17:29	DamianLyons
jpg	planview.jpg	r2 r1	manage	5.8 K	2011-09-09 - 17:36	DamianLyons
jpg	planview2.jpg	r1	manage	5.8 K	2011-09-09 - 17:36	DamianLyons
jpg	sideview.jpg	r1	manage	7.5 K	2011-09-09 - 17:37	DamianLyons
jpg	uvs060411-005a.jpg	r1	manage	70.1 K	2011-09-09 - 17:33	DamianLyons

Topic revision: r1 - 2012-05-18 - DamianLyons