フクシマ　エドワルド　フミヒコ   福島 E.文彦    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2022/11
形態種別	国際会議論文
査読	査読あり
標題	Design and Control of a Modular Self-reconfigurable Spherical Robot Connected by Magnetic Force
執筆形態	共著
掲載誌名	Proceedings of the Fourteenth Japan-China International Workshop on Information Technology and Control Applications
掲載区分	国外
出版社・発行元	Edited by Jinhua SHE, Yasuhiro OHYAMA, Weihua CAO, and Yuanqing XIA, School of Engineering Tokyo University of Technology
巻・号・頁	pp.137-143
総ページ数	7
担当区分	最終著者
著者・共著者	Weihao WANG and Edwardo F. FUKUSHIMA
概要	This paper proposes a modular self-reconfigurable spherical robot, which modules can independently move (roll and/or turn), and also can connect with other modules to rearrange themselves into different configurations to meet task requirements. A module is composed of an external spherical shell and an internal mechanism. The latter is characterized by having: (a) 2-DOF coupled drive rolling/turning motion mechanism; (b) two independent connection mechanism using magnetic force generated/canceled by sets of Permanent Magnets and Polepiece demagnetization units; and (c) two rotation motion mechanism on which the connection mechanisms are mounted. In this paper, the mechanical design and implementation details and basic control formulation is discussed, followed by experimental verification of each part..