A reconfigurable rolling mobile robot with magnetic coupling as new non-prehensile manipulation problem

Wiltshire, Ollie and Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144 2024. A reconfigurable rolling mobile robot with magnetic coupling as new non-prehensile manipulation problem. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.

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Abstract

This paper presents a new type of mobile rolling robot module as a platform for non-prehensile manipulation and the control challenges involved in accurate control of the robotic system. The designed robot modules include a novel internally actuated magnetic-pendulum coupling mechanism, which presents an interesting control problem involving the frictional/sliding and magnetic effects between each of the modules.

Item Type:	Conference or Workshop Item (Speech)
Date Type:	Completion
Status:	Unpublished
Schools:	Engineering
Related URLs:	https://ras.papercept.net/conferences/co...
Date of Acceptance:	30 June 2024
Last Modified:	07 Nov 2024 14:45
URI:	https://orca.cardiff.ac.uk/id/eprint/172112

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