Spherical Robot: A Novel Strategy to AnOmnidirectional Rolling Robot

机译：球形机器人：全方位滚动机器人的新策略

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This paper describes a prototype and analytical studies of a spherical rolling robot, arnnew design of an omnidirectional robot system. The robot can arbitrarily begin to move in anyrndirection to the target, and autonomously roll and reach any desired position. Our design hasrnconsidered a spherical robot with an internal mechanism for propulsion. The propulsionrnmechanism will distribute weights radially along spokes fixed inside the sphere and enables thernrobot to accelerate, decelerate, and move with constant velocity. A mathematical model of thernrobot’s dynamic and motion was instructed. An algorithmic motion planning is developed and,rnpartly, pseudo-code of that is presented. For a number of missions, it is shown experimentallyrnthat the model agrees well with the results.

机译：本文介绍了球形滚动机器人的原型和分析研究，以及全方位机器人系统的最新设计。机器人可以任意地开始沿任意方向移动到目标，并自动滚动并到达任何所需位置。我们的设计考虑了带有内部推进装置的球形机器人。推进机制将沿固定在球体内部的辐条径向分配重量，并使机器人能够以恒定速度加速，减速和移动。指导了机器人机器人动态和运动的数学模型。开发了一种算法运动计划，并部分给出了其伪代码。对于许多任务，实验表明该模型与结果非常吻合。

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来源
《14th International ISTVS conference》|2002年|1-3|共3页
会议地点 Vicksburgo MS(US)
作者
Amir H. Javadi A.; Mohammad Chitsazan; Puyan Mojabi; Aidin Delnavaz;
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作者单位

Electronics and Computer Eng. Dep. – Azad Uni. Of Qazvin – ah_javadi@yahoo.com;

Industrial Eng. Dep. – Azad Uni. Of Qazvin – mohammad_chitsazan@yahoo.com;

Electrical and Computer Eng. Dep. – Tehran Uni. – puyan_mojabi@yahoo.com;

Mechanical Eng. Dep. – Sharif Industrial Uni. – aidin_delnavaz@yahoo.com;

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会议组织
原文格式 PDF
正文语种 eng
中图分类车辆工程;
关键词
Spherical Robot; Rolling Robot; Mobile Robot; Motion Planning; Omnidirectional;

机译：球形机器人;滚动机器人;移动机器人;运动计划;全向;

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1. Implementation of Caterpillar Inspired Rolling Gait and Nonlinear Control Strategy in a Spherical Robot [J] . Abhra Roy Chowdhury, Gim Song Soh, Shaohui Foong, 仿生工程学报（英文版） . 2018,第002期

机译：球形机器人中履带启发式步态的实现及非线性控制策略
2. A Motion Planning Strategy for a Spherical Rolling Robot Driven by Two Internal Rotors [J] . Morinaga A., Svinin M., Yamamoto M. Robotics, IEEE Transactions on . 2014,第4期

机译：两个内转子驱动的球形滚动机器人的运动规划策略
3. Introducing Glory: A Novel Strategy for an Omnidirectional Spherical Rolling Robot [J] . Amir Homayoun Javadi A., Puyan Mojabi Journal of Dynamic Systems, Measurement, and Control . 2004,第3期

机译：荣耀介绍：全向球形滚动机器人的新策略
4. Spherical Robot: A Novel Strategy to AnOmnidirectional Rolling Robot [C] . Amir H. Javadi A., Mohammad Chitsazan, Puyan Mojabi, 14th International ISTVS conference . 2002

机译：球形机器人：全方位滚动机器人的新策略
5. Energetics, Dynamics and Control of Multirotor, Rolling-flying, Mobile Robots [D] . Atay, Stefan Mark. 2020

机译：多电流，轧机，移动机器人的能量学，动态和控制
6. Rolling Locomotion of Cable-Driven Soft Spherical Tensegrity Robots [O] . Kyunam Kim, Adrian K. Agogino, Alice M. Agogino -1

机译：电缆驱动的软球形张紧机器人的滚动运动
7. Spherical rolling robots: Different designs and control algorithms [O] . 2020

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8. Spherical Rolling Robot [R] . Wang, Y., Halme, A. 1996

机译：球面滚动机器人

Spherical Robot: A Novel Strategy to AnOmnidirectional Rolling Robot

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