Cart propulsion using a revolving pendulum
This source preferred by Hongnian Yu
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Authors: Wane, S. and Yu, H.
Journal: Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
A propulsion system that does not require any interaction with the external environment in the form of grasping or sticking is proposed. This internal propulsion system for a robot body operates by the use of the frictional force between the body and the environment, and the reaction force from the controlled acceleration of a mass. The dynamics and control issues of a rotating lever attached to a mass are quantified and the results from a prototype are compared. The lateral progress of a system using this as a drive method are analyzed. © 2009 IEEE.