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Open AccessArticle

Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot

Automation, Robotics, and Computer Vision laboratory, Miguel Hernández University, 03202 Elche, Spain
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These authors contributed equally to this work.
Robotics 2019, 8(3), 78; https://doi.org/10.3390/robotics8030078
Received: 14 July 2019 / Revised: 27 August 2019 / Accepted: 2 September 2019 / Published: 5 September 2019
(This article belongs to the Special Issue Robotics in Spain 2019)
Single-actuator mobile robots offer the benefits of low energy consumption, low weight and size, and low cost, but their motion is typically only one-dimensional. By using auxiliary binary mechanisms that redirect and channel the driving force of their only actuator in different ways, it is possible for these robots to perform higher-dimensional motions, such as walking straight, steering, or jumping, with only one motor. This paper presents the MASAR, a new Modular And Single-Actuator Robot that carries a single motor and several adhesion pads. By alternately releasing or attaching these adhesion pads to the environment, the proposed robot is able to pivot about different axes using only one motor, with the possibility of performing concave plane transitions or combining with other identical modules to build more complex reconfigurable robots. In this paper, we solve the planar trajectory tracking problem of this robot for polygonal paths made up of sequences of segments, which may include narrow corridors that are difficult to traverse. We propose a locomotion based on performing rotations of 180 , which we demonstrate to be the minimum-time solution for long trajectories, and a near-optimal solution for shorter ones. View Full-Text
Keywords: single-actuator robots; trajectory planning; climbing robots; modular robots; alternating pivot; adhesion pads single-actuator robots; trajectory planning; climbing robots; modular robots; alternating pivot; adhesion pads
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Peidró, A.; Gallego, J.; Payá, L.; Marín, J.M.; Reinoso, Ó. Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot. Robotics 2019, 8, 78.

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