An alternative locomotion unit for mobile modular self-reconfigurable robots based on archimedes screws

Abstract

In this paper, we introduce a new locomotion unit for mobile modular self-reconfigurable robots. The design is based on Archimedes screws and allows a robot to utilize its full potential. With this newly designed drive unit called screw drive, a robot is able to drive in almost every direction while still using a simple, easy to control setup which requires very little space. Next to a general design description, we introduce the locomotion model for the screw drive used in simulation as well as in locomotion control of the robot. Additionally, we show several experiments to confirm the versatility of the screw drive.