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

Pages: 233-237

ISBN: 9781424434923

DOI: 10.1109/ICNSC.2009.4919278

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.

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