A Three-Legged Reconfigurable Spherical Robot No.3

Kamon, Supaphon; Bun-Athuek, Natthaphon; Laksanacharoen, Pudit

doi:10.1109/ro-man50785.2021.9515319

Cited by 2 publications

(2 citation statements)

References 11 publications

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“…These robots benefit from softness, absorbing collisions, adapting to terrains, and ensuring safe interaction with humans. Hybrid robots, like those showcased in [21,22], combine rolling with walking or crawling, utilizing retractable legs or actuated mechanisms; such designs offer versatility in traversing various terrains and overcoming obstacles. A remarkable prototype by M. Zhang et al [23] integrates rolling, crawling and flying capabilities, maximizing adaptability across diverse environments.…”

Section: Barycenter Offsetmentioning

confidence: 99%

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Melchiorre,

Colamartino,

Ferrauto

et al. 2024

Robotics

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The spherical shape is an interesting approach to develop exploration robots, or rovers, thanks to its capability of ensuring omnidirectional motion and of being basically unsensitive to possible rollovers. This works intends to propose a novel detailed design for such a kind of robot and to discuss the performance that can be reached by adopting this solution. The work hence introduces the requirements assumed for the design of the robot and discloses the general layout that was selected, which includes a pendulum for motion transmission and two coupled gyroscopes to overcome high, steep obstacles, such as steps. The paper then summarizes the functional design computation carried out to size and selects the components of the system. Eventually, a control algorithm is described and tested on a complete multibody model of the robot. The results in the execution of standard maneuvers such as motion on a horizontal plane, as well as in the overcome of a step, are shown. The energetic balance of the rover is described, and some preliminary consideration about mission planning are reported in the final discussion.

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Section: Barycenter Offsetmentioning

confidence: 99%

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Melchiorre,

Colamartino,

Ferrauto

et al. 2024

Robotics

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“…Research on the driving mechanisms of spherical robots is currently focused on four main directions: wheeled eccentric torque driving mechanisms (Figure 1a), multi-wheel friction internal driving mechanisms (Figure 1b), and pendulum eccentric torque driving mechanisms (Figure 1c), as well as other novel driving mechanisms such as wind-driving mechanisms (Figure 1d), localized deformation of the spherical shell (Figure 1e), and legdriving mechanisms (Figure 1f) [3][4][5]. The wheeled eccentric torque driving mechanism was the initial driving mechanism for spherical robots, achieving omnidirectional movements through the motion of a small car inside the shell, as seen in the Rollo series of spherical robots [6].…”

Section: Introductionmentioning

confidence: 99%

Research on the Influence of Radial Variation of Centroid on the Motion of Spherical Robot

Ma,

Li,

Chang

et al. 2024

Machines

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Through the pendulum mechanism inside the spherical shell, the centroid can be varied circumferentially, enabling the spherical robot to achieve omnidirectional flexible movement. Additionally, the radial variation ability of the centroid enables spherical robots to adopt two distinct driving modes: the traditional lower pendulum driving mode and the inverted pendulum driving mode. There are two manifestations of radial variation in the centroid: having different radial positions of the centroid and achieving radial movement of the centroid. Focusing on these two manifestations, experimental data are obtained through different motion velocities and different motion slopes to conduct research on the influence of radial variation in the centroid on the motion of spherical robots. Based on the experimental data, multiple indicators are analyzed, including response speed, convergence speed, stability, and overshoot, as well as steering ability, climbing ability, and output power. The impact of the radial variation ability of the centroid on the control performance, locomotion capability, and energy consumption of spherical robots is summarized, and the correlation model relating the motion requirements to the radial position of the centroid is established, providing a theoretical basis for the selection of driving modes and centroid positions for spherical robots facing complex task requirements.

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A Three-Legged Reconfigurable Spherical Robot No.3

Cited by 2 publications

References 11 publications

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Research on the Influence of Radial Variation of Centroid on the Motion of Spherical Robot

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