Modeling, design, and implementation of a baton robot with double-action inertial actuation

In this paper, we present a baton locomotor capable of generating tapping gait. A baton is a system that consists of two masses joined with a massless rod. We use a new double-action inertial actuation scheme to drive this system. This scheme employs two spinning pendulums at one end, turning in opposite directions with the same angular velocity. One can control the direction and magnitude of the resultant inertial force that propels the system by changing the rendez-vous angle and the angular velocity of the spinners. In this paper, we first present the modeling of the system with actuation on both ends. Then, we use a numerical approach to simulate and analyze the tapping gait of the inertially actuated baton. In addition, we developed a new prototype, Pony II robot, to establish the practicality of the concept. This prototype consists of the double-action spinners mounted on both ends of the baton. The mechanical and electronic components of the robot are also presented in full detail. Finally, we demonstrate that the robot can successfully generate periodic tapping gait.