Modeling, design, and implementation of a baton robot with double-action inertial actuation

• Published in: Mechatronics (Oxford) Vol. 29; pp. 1 - 12
• Main Authors: Zoghzoghy, Joe, Zhao, Junkai, Hurmuzlu, Yildirim
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.08.2015
• Subjects: Baton; Control; Inertial actuation; Locomotion; Robotics; Locomotion; Control; Baton; Inertial actuation; Robotics

In this paper, we present a baton locomotor capable of generating tapping gait. A baton is a system that consists of two masses joined with a massless rod. We use a new double-action inertial actuation scheme to drive this system. This scheme employs two spinning pendulums at one end, turning in opp...