Mobile Robot Using Rotational Movements of the Arms

Abstract

This study proposes a mobile robot which can start to move by utilizing rotational movements of the two arms. We investigated an experiment model of the robot which could move in a planar space with low friction. The robot had a device that could fix the body to a platform constructed on a floor. While the body was fixed to a platform, the robot could store the kinetic momentum of the center of mass by rotating of the arms. When the body was released from the platform, the robot could start to move along the kinetic momentum of the center of mass. In this report, we propose a modified model of the robot equipped with an oscillation mechanism. Then we consider the possibility of the proposed model.