The TROLLER 1D is my newest robot project. The concept uses a series of simple 'links' to make up the TROLLER. Its locomotion can be similar to that of a caterpillar or snake while laying flat, but the novel concept is that it can roll itself into a large circle and still propel itself (like tank treads) by shifting links in the proper sequencing.
Right Top: Video demonstrating the TROLLER 1D prototype.
To the right is a video of the initial servo controls test. I plan to verify and finalize the design before joining the three units together and developing the rolling algorithms.
Propulsion by Self Rolling works by shifting the links in sequences to rotate itself around the perimeter. To refine this concept the TROLLER 1D will use motion sensing capabilities like the sensors found in a Wii remote (accelerometers and gyroscopic sensors). These sensors will allow the control programming to learn how to roll at different speeds, how to change directions, and how to transition into crawling mode. Crawling propulsion will be achieved by mimicking the movements of a caterpillar. Proper sequencing of the servos will allow smooth transitioning.