Integrated total-NO

Yoon, Suk-Jin; Ahn, Hye Rin; Yoon, Ji Young; Kim, Y.-J.

doi:10.1109/memsys.2011.5734570

Cited by 1 publication

(1 citation statement)

References 5 publications

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“…Furthermore, Kim. et al recently produced a deformable spherical robot with two arms and two pendulums [5], Yoon et al developed an enhanced spherical robot with omni-directional movement [6], Sugiyama et al designed a jumping spherical robot utilizing the temporary transformation of a Shape Memory Alloy (SMA) [7], Tian-yu et al applied an air injection and emission driving mechanism using air bags surrounding the robot shell [8], and Viorel et al made a regular dodecahedron spherical robot with 12 spring legs on each outer shell [9]. However, all these driving mechanisms for spherical robots generate a weak propulsion, meaning that the robots are unable to move across uneven terrain, due to falling into hollows or difficulties with climbing.…”

Section: Introductionmentioning

confidence: 99%

KisBot III: New Spherical Robot with Wind-Driven Driving Mechanism

Seo

Ahn²,

Yoon

et al. 2013

AMM

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This paper introduces a novel spherical robot, KisBot III, with a newly designed wind-driven driving mechanism. The ducted fan for wind propulsion of the robot is installed at the center of the sphere, and according to the direction of the fan, the robot is able to move forwards or backwards. The outer shell is an open framework of spring carbon rods, and also includes two arms that can be folded-out to make the robot stop and partially deform its shape. Plus, for turning and balance control, a pendulum is located under the ducted-fan frame. By adopting wind as the driving mechanism, the robot has enough propulsion to drive over flat and uneven terrain, and negotiate a raised curb and slope. Experiments verify the driving motions and efficiency of the proposed spherical robot.

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