Design and Analysis of a Spherical Robot with Two Degrees of Freedom Swing

Yang, Maotao; Tao, Tianping; Huo, Jianwen; Neusypin, K. A.; Zikun, Zhang; Zhang, Hua; Guo, Mingming

doi:10.1109/ccdc49329.2020.9164196

Cited by 10 publications

(4 citation statements)

References 6 publications

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“…Researchers have proposed enhancements such as modifying pendulum structures and incorporating extendable pods for improved performance [6,7]. Innovations like Visionbot [8] and multi-mode motion designs [9] expand the capabilities of pendulumbased spherical robots.…”

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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“…(12). According to the method of [4, 8, 20], the XK-I SR’s rolling and steering motion control can be separated; that is, the driving force produced by a group of motors makes the XK-I move in a straight line. If the XK-I type needs steering motion during linear motion, it is only necessary to input control signals to another group of motors.…”

Section: Description Of the Pendulum Sr Systemmentioning

confidence: 99%

“…At present, the drive mechanism of the SR is mainly divided into omnidirectional wheel eccentric torque drive [2], frictional internal drive [3], and eccentric torque drive of heavy pendulum [4]. The pendulum drive is favored by industry and academia due to its simple implementation and significant driving torque.…”

Section: Introductionmentioning

confidence: 99%

Design and validation of a novel adaptive motion control for a pendulum spherical robot

2023

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Spherical robots (SRs) have the characteristics of nonholonomic constraints, underactuation, nonchain, and strong coupling, which increase the difficulty of modeling and motion control compared with traditional robots. In this study, we develop an adaptive motion control scheme for a nonholonomic SR, in which an omnidirectional dynamic model is carried out by using the Euler–Lagrange method to describe the omnidirectional motion of the SR more accurately. Furthermore, to facilitate the design of the motion controller, the dynamic model is simplified to obtain the state space expression of the SR. Aiming at the problem of poor control effect caused by the change of system model parameters which are influenced by dynamic model reduction, an adaptive motion control law of SR is designed based on MRAC. And the coefficient adjustment of the controller is obtained by the Lyapunov method, with the guaranteed stability of the closed-loop system. Finally, the controller designed in this thesis is compared with four controllers including linear quadratic regulator, Fuzzy PID, PSO-ADRC, and hierarchical SMC. The experimental comparison proves that the control scheme proposed in this study still has good control ability when the motion parameters are disturbed.

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“…Their proposed method did not have Lagrangian multipliers. Kayacan et al (2012), Andani et al (2018), Yang et al (2020) utilized the Euler-Lagrangian method to establish a decoupling dynamic modeling method…”

Section: Introductionmentioning

confidence: 99%

Active disturbance rejection motion control of spherical robot with parameter tuning

Liu

Lin

Yang

et al. 2021

Self Cite

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Purpose The characteristics of spherical robots, such as under-drive, non-holonomic constraints and strong coupling, make it difficult to establish its motion control model accurately. To improve the anti-interference performance of spherical robots in practical engineering, this paper proposes a spherical robot motion controller based on auto-disturbance rejection control (ADRC) with parameter tuning. Design/methodology/approach This paper considers the influences of the spherical shell, internal frame and pendulum on the movement of the spherical robot during the rotation to establish the multi-body dynamics model of the XK-I spherical robot. Due to the serious coupling problem of the dynamic model, the motion control state equation is constructed using linearization and decoupling. The XK-I spherical robot PSO-ADRC motion controller with parameter tuning function is designed by combining the state equation with the particle swarm optimization (PSO) algorithm. Finally, experiments are performed to evaluate the feasibility of PSO-ADRC in an actual case compared to ADRC, PSO-PID and PID. Findings By analyzing the required time to reach the expected value, the control stability and the fluctuation range of the standard deviation after reaching the expected value, the superiority of PSO-ADRC to ADRC, PSO-PID and PID is demonstrated in terms of the speed and anti-interference ability. Practical implications The proposed method can be applied to the robot control field. Originality/value A parameter-tuning method for auto-disturbance-rejection motion control of the spherical robot is proposed. According to the experimental results, the anti-interference ability of the spherical robot moving on uneven ground is improved. Therefore, it provides a foundation for the autonomous environmental monitoring of the spherical robot equipped with sensors.

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Design and Analysis of a Spherical Robot with Two Degrees of Freedom Swing

Cited by 10 publications

References 6 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

Design and validation of a novel adaptive motion control for a pendulum spherical robot

Active disturbance rejection motion control of spherical robot with parameter tuning

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