Modeling and control of cylindrical mobile robot

Abstract

Cylinders exhibits characteristic dynamic behavior such as rolling with lateral-side or edges. In this paper, we propose a new type of rolling mobile robot with cylindrical aspect, which performs two contrastive modes of motion due to the geometry of its shape. In the first mode called lateral-side rolling, the robot is statically stable except few degree of freedom, whereas the robot is only dynamically stable in the other mode (called edge-rolling) and has potential of high mobility. In this work, we attempt to control this robot using an eccentric rotor without gyroscope and applying linear or nonlinear control theory.