We created a polyhedral rolling movement robot that uses weights in its internalmechanism. Polyhedral robots can stop on uneven ground without any control. This robotutilizes a weight within its internal mechanism, and by rotating the weight with a servomotor, the position of the robot's center of gravity and the inertial force applied to the robotchange, enabling the robot to rotate. In this manuscript, the maximum angle at which apolyhedral robot cannot descend a slope is referred to as the "rolling angle." In this study,the rolling angle of a polyhedral rolling mobile robot was measured using a slope whoseangle can be changed, and the effect of the position of the weight on the rolling angle wasclarified. The angle of the slope at which the rolling angle is greatest was measured, and itwas clarified that the angle of the slope at which the rolling angle is greatest exceeds 90degrees..
NASU et al. (Wed,) studied this question.