MonoBot: A Single-Actuator Walking Robot

• Published in: IEEE access Vol. 12; pp. 50605 - 50612
• Main Authors: Lax, Uriya, Medina, Oded, Shvalb, Nir
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Angular velocity; Design optimization; dynamic analysis; Euler-Lagrange equation; Euler-Lagrange equations; Legged locomotion; Mobile robot; Robots; single actuator; Turning; Vectors; walking robot; Wheels
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2024.3385779

This paper introduces the design and analysis of novel planar mobile robot operated by a single actuator. Distinct from conventional multi-actuator designs, this robot achieves both walking and turning motions through a single actuator mechanism, thereby simplifying construction and control. The design focuses on mechanical and electronic minimalism and efficiency. We formulate the governing dynamic equations using Euler-Lagrange formalism by which we optimize the robot's design. The study concludes with a series of experiments that demonstrate the robot's translation and rotation.