Novel Non-Prehensile Rolling Problem: Modelling and Balance Control of Pendulum-Driven Reconfigurable Disks Motion with Magnetic Coupling in Simulation

TL;DR

This paper introduces a new modular rolling robot with magnetic coupling, models its nonlinear dynamics, and analyzes its motion and balancing control challenges through simulation, paving the way for advanced non-prehensile robotic manipulation.

Contribution

The paper develops a nonlinear dynamic model of a novel magnetic-pendulum coupled reconfigurable disk robot and explores its motion and balancing control in simulation.

Findings

Successful modeling of the robot's nonlinear dynamics.

Insights into control challenges due to magnetic and frictional interactions.

Introduction of a new lifting motion pattern for the platform.

Abstract

This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed rolling disk modules incorporate an innovative internally actuated magnetic-pendulum coupling mechanism, which introduces a compelling control problem due to the frictional and sliding interactions, as well as the magnetic effects between each module. In this paper, we derive the nonlinear dynamics of the robot using the Euler-Lagrange formulation. Then, through simulation, the motion behavior of the system is studied and analyzed, providing critical insights for future investigations into control methods for complex non-prehensile motion between robotic modules. Also, we study the balancing of this new platform and introduce a new motion pattern of lifting. This research aims to enhance the understanding and implementation of modular self-reconfigurable robots in various scenarios for future applications.