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Foundations of Robotics
Seminar, August 31, 2006
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Automatic Transition of
Ballbot from Statically Stable State to Dynamically Stable State
Anish Mampetta
Wean Hall 4625
Refreshments 2:45 pm
Talk 3:00 pm
Dynamically stable mobile robots with high
centre of gravity and a small foot print are breaking new grounds in the field
of mobile robotics. While in operation, these robots are dynamically stable,
relying on inertial forces to maintain pose. And when not in operation, they
rely on legs or kick stands to maintain static stability. The transition
between the dynamic and static state should be automatic and smooth so as to
give these robots truly autonomous capabilities. Ballbot has three retractable
legs arranged in tripod configuration. Each leg is a servo controlled four bar
slider crank mechanism with 1 DOF. In this work we explore means of automatic
transition in Ballbot, by taking advantage of the properties of the leg
mechanism. We consider two such methods, and take-off, and simultaneous
withdrawal. We come up with generalized design intent for designing leg
mechanisms to be used in dynamically stable robots. We also present the
kinematic analysis of the spatial mechanism formed when the body and legs are
taken together as a single mechanism.
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Speaker Appointments |
For appointments, please contact Anish
Mampetta (mampetta@gmail.com)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.