相关论文: Dynamical Behavior Investigation and Analysis of N…
This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…
A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
This paper discusses the design, modeling, and control of Norma, a novel 2 DOF mobile spherical robot (SR). The propelling mechanism of this robot consists of two actuators: a slider, and a rotational pendulum located on the SR's diagonal…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
Spherical robots typically require at least two actuators to achieve controlled 2D planar motion. Here we present Rollbot, the first spherical robot capable of controllably maneuvering on a 2D plane with a single actuator, challenging this…
Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
We give a geometric account of kinematic control of a spherical rolling robot controlled by two internal wheels just like the toy robot Sphero. Particularly, we introduce the notion of shape space and fibers to the system by exploiting its…
This paper designs a new spherical robot structure capable of supporting high-speed motion at up to 10 m/s. Building upon a single-pendulum-driven spherical robot, the design incorporates a momentum wheel with an axis aligned with the…
The controlled actuation of hydraulic and pneumatic actuators has unveiled fresh and thrilling opportunities for designing mobile robots with adaptable structures. Previously reported rolling robots, which were powered by fluidic systems,…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line,…
Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc.…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional…