Description

This is a prototype of a robot that is able to induce rolling by moving its COM out of its base of stability through a series of strings and motors. This novel method of locomotion allows for these simple circular robots to traverse rough terrain that traditional wheeled/legged robots struggle with.

The physics behind rolling objects is when something causes the its Center of Mass (COM) to be moved out of the base of stability. The video submitted shows the robot moving it’s own COM [grey box] from the “Centered” position to the “Initiate” position and back, causing the wheel to make the first step in a roll. The COM is able to figure out it’s position by utilizing distance sensors it has on each side of it’s square shell. The yellow rubber bands act as tensioners that keep the strings taut through movements of the COM. Due to the torque applied by these rubber bands onto the COM, it creates rotational, plus translational motion, which makes for these interesting string patterns everytime the COM moves. Due to the fact that this is a dynamic system, each string formation is unique.

Video of moving robot on YouTube - click here to watch