The desire for a high mobility-to-size ratio in mobile robots has led to the exploration of many new methods of locomotion, one of which is tumbling. We believe that tumbling has a great potential to produce high mobility-to-size ratios in miniature mobile robots. In this paper we discuss tumbling locomotion and introduce the Adelopod, a small two-armed tumbling robot recently developed at the University of Minnesota Center for Distributed Robotics. The Adelopod achieves high mobility with low hardware complexity, making it a desirable addition to any heterogeneous team of robots.
|Original language||English (US)|
|Number of pages||2|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|State||Published - 2009|
|Event||2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan|
Duration: May 12 2009 → May 17 2009
Bibliographical noteFunding Information:
ACKNOWLEDGEMENTS This work has been supported in part by National Science Foundation through grants #IIS-0219863, #CNS-0224363, #CNS-0324864, #CNS-0420836, #IIP-0443945, #IIP-0726109, and #CNS-0708344.
© 2009 IEEE