Tumbling Operation of Polygonal Prism for "ASTERISK"

This research objective is to improve the object transportation ability of our Limb Mechanism Robot "ASTERISK". We proposed the tumbling motion of ASTERISK. Generically, "tumbling" is the effective way to transport a heavy and large object with a little load. In our tumbling motion, we control the force which the robot applies to an object. We take friction forces between the limb and the object, the one between the limb and the floor, and the one between the object and the floor into account, so that we can derive the optimal force which does not cause any slip. We control the robot's center of mass position and the angle of each joint in order to perform the tumbling motion without slip. The effectiveness is confirmed through experiments.