Development of a holonomic mobile spherical robot with 3D center of gravity shifting actuators

Chen, Meng; Sun, Weiwei; Gao, Yingpeng; Zhan, Shaodong; Zhang, Guanglie; Li, Wen J.

doi:10.1109/robio.2016.7866361

Cited by 3 publications

(3 citation statements)

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“…The design interesting in that the robot can rotate in place. Based on this mechanism, other SRs were designed on a similar principle in References [51][52][53][54][55]. An interesting example of the use of a pendulum is Reference [56], where 4 pendulums are used for steering the SR.…”

Section: Double Pendulummentioning

confidence: 99%

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Spherical Robots for Special Purposes: A Review on Current Possibilities

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et al. 2022

Sensors

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The review discusses the possibilities of different driving mechanisms and sensors of spherical robots, and a special kind of mobile robots is introduced and discussed. The sensors discussed can expand robots’ sensing capabilities which are typically very limited. Most spherical robots have holonomic characteristics and protect the inner environment using a shell. Today, there are a diversity of driving mechanisms. Therefore, this article provides a review of all of them and identifies their basic properties. Accordingly, many spherical robots have only inner sensors for moving, balancing, driving, etc. However, a few of them are also equipped with sensors that can measure environmental properties. Therefore, in this paper, we propose the possibility of using such sensors as cameras, LiDARs, thermocouples, and gas sensors, which can be used for special purposes underground, for example, in mines, underground tunnels, or road tunnels. After combining all components are combined, it is possible to design a special type of spherical robot designed for underground exploration, such as accidents in mines or road tunnels.

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Section: Double Pendulummentioning

confidence: 99%

“…The mechanism for moving forward/backward and the turning mechanism are self-dependent, which means HIT has non-holonomic properties. Several robots have been designed using this principle, such as BYQ-III, in Reference [60], and others, in References [53,[61][62][63].…”

Section: Double Pendulummentioning

confidence: 99%

Spherical Robots for Special Purposes: A Review on Current Possibilities

Bujňák

Pirník

Rástočný

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

“…Figure 40 shows a scheme with radial linear guides. It should be noted that most of the studies dealing with this principle of propulsion are only theoretical treatments describing the dynamics of motion, and their results have not been implemented in practice [137][138][139][140].…”

Section: Mechanisms Of Linear Displacement For the Offset Of The Cent...mentioning

confidence: 99%