An autonomous mobile robot with passive wheels propelled by a single motor

Abstract

This paper proposes a new propulsion mechanism for a passive-wheeled robot. By applying the propulsion principle of a two-wheeled skateboard, or “snakeboard,” a mobile robot with a rotor is constructed. Although the robot moves based on the counter force of the rotor rotation, the timely alternation of the orientations of the front and rear wheels is required. The mechanism proposed herein drives the rotor and the wheel orientations simultaneously using a single motor. Simulation analyses based on a dynamical model confirmed the desired temporal relation in motion between the rotor and wheel orientation, and evaluated the effect of some mechanical parameters to the traveling distance of the robot. Some experiments conducted using the robot demonstrated not only straight-line propulsion, as expected, but also controlled curved motion. Finally, by providing feedback of the positional information, the robot was able to autonomously arrive at a goal position by driving itself with its single motor.