Dynamic simulation of a reconfigurable spherical robot

Jearanaisilawong, Petch; Laksanacharoen, S.

doi:10.1109/robio.2009.4913336

Cited by 9 publications

(2 citation statements)

References 6 publications

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“…The concept of ball to foot was put forward in 2006, called Hex-A-Ball (HAB) 80 (as shown in Figure 16(b)), which is composed of a hemisphere and six feet. In 2008, Jearanaisilawong and Laksanacharoen 81 proposed a reconfigurable spherical robot (RSR) (as shown in Figure 16(c)), which can be transformed into two interconnected hemispheres and three omni-directional wheel structures. Kisbot 82 is a spherical robot that can extend two support arms (as shown in Figure 16(d)).…”

Section: Classification and Research Status Of Spherical Mobile Robot...mentioning

confidence: 99%

Special spherical mobile robot for planetary surface exploration: A review

Gao

et al. 2023

International Journal of Advanced Robotic Systems

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Considering the requirements of high scientific return, low cost, less complexity, and more reliability for the robot proposed by the extreme environment exploration task on the planet surface, this article comprehensively reviews the history of the special spherical robot used for extraterrestrial surface exploration and summarizes the environmental characteristics and task difficulties of different planet surface. This article compares the advantages of different types of ground spherical robots and points out the superiority of special spherical robots, such as omni-direction, airtightness, zero-radius turning, under-actuated, swarming, and lightweight. In addition, the research progress of special spherical robots for extraterrestrial exploration, such as wind ball, jumping ball, fly ball, ball with leg, pendulum driven ball, tensegrity structure, are reviewed respectively. Finally, the performance characteristics of all these robots are analyzed, their application scope given.

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Section: Classification and Research Status Of Spherical Mobile Robot...mentioning

confidence: 99%

Special spherical mobile robot for planetary surface exploration: A review

Gao

et al. 2023

International Journal of Advanced Robotic Systems

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“…In previous report [1], we proposed a novel robot design suitable for this challenging task. The proposed design considered a spherical robot in its dormant form: the spherical shape provides minimum packing volume for storage and transportation.…”

Section: Introductionmentioning

confidence: 99%

Design of a three-legged reconfigurable spherical shape robot

Jearanaisilawong

Laksanacharoen

Piriyawong

et al. 2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper proposes a novel mechanical design of a three-legged reconfigurable robot. In its dormant form, the robot is packed into a spherical shape for minimum storage volume. At deployment, the robot can be transformed into a mobile form of two interconnected hemispheres with three legs, each equipped with an omni-directional wheel. Feasibility of the transformation process was analyzed using a dynamic simulation in MSC.ADAMS. The construction of the robot has been completed up to the deployment of three legs, the lifting of the robot body, and the movement of omni-directional wheels. The deployment of robot legs is controlled using feedback control on five dsPIC30F2010 boards. The torque measurements of the transformation process are in good agreement with the results of corresponding dynamic simulation.

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