Locomotion and Control of a Friction-Driven Tripedal Robot
Mark Hermes Taylor McLaughlin Mitul Luhar Quan Nguyen Mark Hermes Taylor McLaughlin Mitul Luhar Quan Nguyen
This paper presents a novel omnidirectional gait design and feedback control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which impart frictional reactive forces on the body. We first introduce a mathematical model for the robot motion, the...