Design and Implementation of a Novel Spherical Mobile Robot

Mahboubi, Saber; Fakhrabadi, Mir Masoud Seyyed; Gholami, Ahmad

doi:10.1007/s10846-012-9748-8

Cited by 48 publications

(18 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This actuation principle can be realized by moving internal weights connected to rods. Rotating a mass within the sphere is another alternative way to actuate a rolling robot [8][9][10][11]. Trajectory tracking for pendulum-actuated robots was considered in [4,12,13,25].…”

Section: Introductionmentioning

confidence: 99%

Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot

et al. 2019

View full text Add to dashboard Cite

In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.

show abstract

Section: Introductionmentioning

confidence: 99%

Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot

et al. 2019

View full text Add to dashboard Cite

show abstract

“…Another difference is that in RS-SRs the transverse axis is defined in a way that tilts with the robot, so it is not always parallel to the tangent plane. This type of SRs uses an underactuated mechanical propulsion mechanism that allows the robot to roll in a nonholonomic manner [41][42][43][44]. Fig.…”

Section: B Rolling and Steering Spherical Robots (Rs-sr)mentioning

confidence: 99%

Kinematics of Spherical Robots Rolling over 3D Terrains

2019

View full text Add to dashboard Cite

Although the kinematics and dynamics of spherical robots (SRs) on flat horizontal and inclined 2D surfaces are thoroughly investigated, their rolling behavior on generic 3D terrains has remained unexplored. This paper derives the kinematics equations of the most common SR configurations rolling over 3D surfaces.First, the kinematics equations for a geometrical sphere rolling over a 3D surface are derived along with the characterization of the modeling method. Next, a brief review of current mechanical configurations of SRs is presented as well as a novel classification for SRs based on their kinematics. Then, considering the mechanical constraints of each category, the kinematics equations for each group of SRs are derived.Afterwards, a path tracking method is utilized for a desired 3D trajectory. Finally, simulations are carried out to validate the developed models and the effectiveness of the proposed control scheme. climb obstacles, assuming the condition to be static. From a different view, rolling of SRs are studied where the desired path is assumed to be a straight line with constant slope or a single step obstacle [9-11] and a 2D curved path with variable-slope [12] respectively. In [13], authors have investigated dynamics of Martian tumbleweed rovers while this special type of SR rolls in its heading direction and the turning action is not considered for them. In fact, while several researches have been done on 3D kinematics of other types of mobile robots such as legged [14] and wheeled robots [15,16], to the best of the authors' knowledge, the general problem of kinematics of SRs rolling on 3D terrains has not been investigated in the literature. The motivation to address this problem is that, while many applications of the SRs are on flat surfaces such as indoor [17], and paved roads [18], for a variety of applications such as agriculture [19], surveillance [20], environmental monitoring [21], and even planetary explorations [22], they would get exposed to uneven terrains.In this work, prior to deriving the kinematics of SRs on 3D terrains, a general method for modeling a geometrical sphere rolling over a mathematically known 3D surface is developed. Then, the derived equations are expanded in order to be applied to SRs considering their specifications. Concretely, a variety of mechanisms are utilized in SRs to provide the required propelling torques and forces for their rolling action. Each configuration imposes its own kinematical constraints on the SRs' rolling motion. Therefore, to study the kinematics of SRs it is essential to classify current and feasible designs of SRs accordingly.There are a few SR classifications available in the literature. In a survey [6], SRs are classified based on their mechanical driving principles as: 1) Barycenter offset (BCO), 2) Conservation of angular momentum (COAM), and 3) Shell transformation (OST). In another review, SRs are classified based on their mechanical configurations [23], e.g., single wheel, hamster wheel, pendulum driven, gimbal mechanism, single ball...

show abstract

“…A variant of this propulsion solution is presented in [11], where two independent pendulums are used ( Figure 8). An interesting double pendulum driving unit is described in [12] and even a four pendulum solution [13].…”

Section: Figure 7: Cad Model Of Kisbotmentioning

confidence: 99%

Triaxial Symmetric Robots: State of the Art and Trends

2017

IJOMAM

View full text Add to dashboard Cite

-Mobile robots currently attract huge interest due to their extraordinary palette of applications, from intelligent toys to complex industrial uses. Different categories of applications have brought the need to develop a wide variety of original locomotion systems, depending on the particular task that needs to be executed. Therefore, several aspects must be considered: the locomotion type, the environment in which the movement is performed, the dynamic requirements (i.e. speed, acceleration), sensor endowment, and safety measures to ensure both the preservation of the robot and of the surrounding life forms. A new trend, increasingly explored lately, consists of using triaxial symmetric robots with rolling and/or jumping locomotion capabilities. Triaxial symmetric robots can be identified as a typology of robots with geometrical symmetry features on all three axes, showing multiple advantages, like: fast recovery after a collision with an obstacle, no overturning risk, the ability of moving in various directions without needing additional movements when switching positions. These characteristics recommend the implementation of the above mentioned robotic structures in situations when the need for multi-modal locomotion concepts arises, the risk of hitting obstacles is unavoidable, high resilience is required, landform transition environment (i.e. shallow waters, swamps), and for surveillance and reconnaissance tasks. The development perspectives in the area are practically endless, therefore the article performs a summary of the state of art in these practical locomotion solutions and proposes new research directions in the same area.

show abstract

Design and Implementation of a Novel Spherical Mobile Robot

Cited by 48 publications

References 18 publications

Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot

Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot

Kinematics of Spherical Robots Rolling over 3D Terrains

Triaxial Symmetric Robots: State of the Art and Trends

Contact Info

Product

Resources

About