Mobile robot utilizing rotational movements of the arms

In this paper, we consider a mobile robot which can start to move by utilizing rotational movements of the two arms. We investigate a simulation model of the robot which moves in a planar space where there are no friction and no gravity. This robot has a special device that can fix the body to a platform constructed on a certain wall or floor. While the body is fixed to the platform, the robot can store the kinetic energy by rotating of the arms. When the body is released from the platform, the robot starts to move along the kinetic momentum of the center of mass. We propose a scheme to control the moving direction of the robot after the body is released from the platform. Furthermore, we consider the reduction capability of the robot against the impact of collision with a platform at destination.