Position and attitude control of a spherical rolling robot equipped with a gyro

Otani, Tetsuo; Urakuboi, T.; Maekawa, Satoshi; Tamaki, Hisashi; Tada, Yutaka

doi:10.1109/amc.2006.1631695

Cited by 42 publications

(26 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Furthermore, by changing the speed and direction of the rotating rotor, the omnidirectional motion of the spherical robot could be easily get. For instance, in [11], Toshiaki Otani developed a spherical robot driven by a three axis mechanical gyroscope. The robot's gyroscope was fixed on a gimbal inside the sphere, and when it rotated with high speed, he believed, there would be a torque that can drive the sphere shell.…”

Section: Introductionmentioning

confidence: 99%

Structure Design and Dynamical Modelling of a Spherical Robot Driven by Omnidirectional Wheels

et al. 2018

View full text Add to dashboard Cite

Abstract. In this paper, our work focused on designing a novel spherical robot driven by omnidirectional wheels and developing an under-actuated dynamical model for the system. The robot consists of four parts: the running spherical shell (1P), the supporting platform (1P), the driving omnidirectional wheels (3P) and the bearing ball wheels (3P). Considering the noholonomic constrains aroused from the contacts of the shell with the omnidirectional wheels, and the shell with ground, we derived a dynamical model for the system by Chaplygin dynamics. The model illustrated that the robot was an under-actuated system of six DOF (degree of freedom) and three driving-torque inputs. finally, we performed an inverse dynamics simulations of S-curve trajectory to show the effectiveness of the model.

show abstract

Section: Introductionmentioning

confidence: 99%

Structure Design and Dynamical Modelling of a Spherical Robot Driven by Omnidirectional Wheels

et al. 2018

View full text Add to dashboard Cite

show abstract

“…Spherical robots operate in hostile industrial environment, other planets or a human place like office or home. Spherical robots have been expected to obtain environmental data with sensors, gather and convey an object with an arm installed inside a spherical body in those environments [1][2][3][4][5][6][7]. However, it is considered that these environments have obstacles or difference in level that interrupt rolling locomotion.…”

Section: Introductionmentioning

confidence: 99%

Realization of rolling locomotion by a wheel-spider-inspired hexapod robot

2015

View full text Add to dashboard Cite

This study aims to realize rolling locomotion by a multi-legged robot inspired by "wheel spider" in nature. A novel robot mechanism and a strategy for rolling locomotion is proposed in this paper based on motion analysis of wheel spider species in nature. We also present details of a model of a wheel-spider-inspired hexapod robot and design of its controller in realizing rolling locomotion. Results of numerical simulations validated the efficacy of the proposed approach in synthesizing rolling locomotion in a wheel-spider-inspired hexapod robot. Keywords:Biologically inspired robot; Multi-legged robot; Wheel spider; Rolling locomotion; Modeling; Simulation BackgroundRolling locomotion which has high mobility has been applied many times to mobile robots. Spherical robots are an example of mobile robots performing rolling locomotion. Spherical robots operate in hostile industrial environment, other planets or a human place like office or home. Spherical robots have been expected to obtain environmental data with sensors, gather and convey an object with an arm installed inside a spherical body in those environments [1][2][3][4][5][6][7]. However, it is considered that these environments have obstacles or difference in level that interrupt rolling locomotion. In this case, robots should apply other locomotion. This paper focuses on creatures found in nature that can perform rolling locomotion and other locomotion. Spiders called "wheel spider (carparachne aureoflava)" which can perform rolling locomotion is one of the creatures in nature. The wheel spiders can reconfigure its body structures as wheels by fixing its legs into constant positions and perform rolling locomotion on its side on a slope [8].This paper aims to realize rolling locomotion by a wheel-spider-inspired multi-legged robot on the flat ground.Biologically inspired robots have been studied in literatures, e.g., [9][10][11]. Especially, biologically inspiredrolling *Correspondence: nemoto@ctrl.fr.dendai.ac.jp 1 Tokyo Denki University, 5 Senjuasahi-Cho, Adachi-ku, Tokyo, Japan Full list of author information is available at the end of the article locomotion has been discussed in literatures, e.g., [12,13]. Lin has focused on caterpillars that can escape rapidly from predators by reconfiguring their body structures like wheels. Caterpillar-inspired soft robots have been developed and attempted rolling locomotion [12]. King has focused on rolling locomotion repeating somersault performed by a spider called "huntsman spider (cebrennus villosus)". A quadruped robot which can somersault has been developed based on an image analysis of its rolling locomotion. The quadruped robot has performed rolling locomotion [13].In those studies, although behavior of the creatures is analyzed by images, biologically inspired mathematical models are not developed. In this paper, a biologically inspired mathematical model of the wheel spiders is developed and rolling locomotion is analyzed through simulations. The model captures characteristics of rolling locomoti...

show abstract

“…But the quadruped robot is an active mechanical device with a great many degrees of freedom in the walking structure, and each joint can drive separately. From a control theory standpoint, it is a complex dynamic coupling system, which has the significantly nonlinear and complicated mathematical model [1,2]. In this paper, the quadruped robot was dynamically modeled and simulated, to provide a mathematical model for the subsequent robot control algorithm, and a theoretical basis for the robot's structure optimization design and the selection of joint driving motors and reducers.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Analysis and Simulation on Bionics Quadruped Robot

Zhang¹,

Zhang²,

Wang³

2015

TOAUTOCJ

View full text Add to dashboard Cite

Abstract:The structural framework of quadruped robot was built based on the bionics. Then, lead out the dynamic equations of the simplified structure of the multiple rigid body system using Lagrange method considering the structural characteristic of quadruped robot. At the same time, the virtual prototype of quadruped robot was established and simulated using ADAMS with the planned gait. The simulation results verified the validity of mathematical modeling and the feasibility of the structure design, and it provided useful data information for the subsequent study to enhance the quality of control.

show abstract

Position and attitude control of a spherical rolling robot equipped with a gyro

Cited by 42 publications

References 8 publications

Structure Design and Dynamical Modelling of a Spherical Robot Driven by Omnidirectional Wheels

Structure Design and Dynamical Modelling of a Spherical Robot Driven by Omnidirectional Wheels

Realization of rolling locomotion by a wheel-spider-inspired hexapod robot

Dynamic Analysis and Simulation on Bionics Quadruped Robot

Contact Info

Product

Resources

About