P-1-3 Mechanism and Control Method for a Micro-Robot Using the Difference of Natural Frequencies of the Legs : Experiment of Turning Control

摘要

In recent years, a large number of studies have focused on micro-robots. Moreover, yearly contests have been held in order to develop micro-robot technologies. As a result of these activities, various types of micro-robot have been proposed, including motor-type, piezoelectric-element-type, and electromagnet-type micro-robots. The present study considers a moving mechanism of and a control method for an electromagnet-type micro-robot that can not only run in a straight line but can also turn with only one electromagnet coil using the difference of natural frequencies of the right leg and left leg. In the present paper, the characteristics of the motion of the micro-robot turning on a horizontal plane are investigated through some experiments.