DYNAMIC OBSTACLE OVERCOMING CAPABILITY OF PENDULUM-DRIVEN BALL-SHAPED ROBOTS

机译：摆锤式球形机器人的动态障碍克服能力

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This paper discusses dynamic step-crossing capability of pendulum-driven ball-shaped robots. We introduce an extended dynamic model that allows modeling of ball-robot rolling, bouncing and slipping. Based on the new model, our simulations predict the maximum over-passable step-height for the robot. The simulation results agree well with the result from a parallel simulation in Adams-software as well as with practical experiments. The new dynamic model can be applied for mobility analysis of robot-ball designs as well as for path planning.

机译：本文讨论了摆锤驱动的球形机器人的动态跨步能力。我们引入了扩展的动态模型，该模型允许对球形机器人的滚动，弹跳和打滑进行建模。基于新模型，我们的仿真预测了机器人的最大可超越步高。仿真结果与Adams软件中的并行仿真结果以及实际实验结果非常吻合。新的动态模型可用于机器人球设计的移动性分析以及路径规划。

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来源
《Proceedings of the 17th IASTED international conference on robotics applications ; Proceedings of the 11th IASTED international conference on biomedical engineering》|2014年|329-338|共10页
会议地点 Zurich(CH)
作者
Tomi J. Ylikorpi; Pekka J. Forsman; Aarne J. Halme;
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作者单位

Aalto University School of Electrical Engineering Otaniementie 17, Espoo, Finland;

Aalto University School of Electrical Engineering Otaniementie 17, Espoo, Finland;

Aalto University School of Electrical Engineering Otaniementie 17, Espoo, Finland;

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原文格式 PDF
正文语种 eng
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关键词
Ball-shaped robots; robot dynamics; robot kinematics; Euler-Lagrange equation; simulation;

机译：球形机器人；机器人动力学；机器人运动学欧拉-拉格朗日方程模拟;

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专利

1. Dynamic modeling and obstacle-crossing capability of flexible pendulum-driven ball-shaped robots [J] . Ylikorpi Tomi J., Halme Aarne J., Forsman Pekka J. Robotics and Autonomous Systems . 2017,第Null期

机译：柔性摆式球形机器人的动力学建模和障碍穿越能力
2. Dynamic modeling and obstacle-crossing capability of flexible pendulum-driven ball-shaped robots [J] . Ylikorpi Tomi J., Halme Aarne J., Forsman Pekka J. Robotics and Autonomous Systems . 2017,第Null期

机译：柔性摆动球形机器人的动态建模与障碍交叉能力
3. The Soft Robotics Toolkit: Strategies for Overcoming Obstacles to the Wide Dissemination of Soft-Robotic Hardware [J] . Donal Padraic Holland, Colette Abah, Marielena Velasco-Enriquez, IEEE Robotics & Automation Magazine . 2017,第1期

机译：软机器人工具包：克服软机器人硬件广泛传播障碍的策略
4. DYNAMIC OBSTACLE OVERCOMING CAPABILITY OF PENDULUM-DRIVEN BALL-SHAPED ROBOTS [C] . Tomi J. Ylikorpi, Pekka J. Forsman, Aarne J. Halme IASTED international conference on biomedical engineering . 2014

机译：摆动球形机器人的动态障碍克服能力
5. A GA-based fuzzy controller for mobile robots in dynamic environments with moving obstacles. [D] . Tan, Suo. 2010

机译：基于GA的模糊控制器，适用于具有移动障碍物的动态环境中的移动机器人。
6. Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network [O] . Widodo Budiharto 2015

机译：使用神经网络的具有避障能力的智能监控机器人
7. Dynamic Obstacle Overcoming Capability of Pendulum-driven Ball-Shaped Robots [O] . Ylikorpi Tomi, Forsman Pekka, Halme Aarne 2014

机译：摆式球形机器人的动态障碍克服能力
8. Using Dynamic Capability Evaluation to Organize a Team of Cooperative, Autonomous Robots [R] . Matson, E. , DeLoach, S. 2003

机译：利用动态能力评估组织合作自主机器人团队

DYNAMIC OBSTACLE OVERCOMING CAPABILITY OF PENDULUM-DRIVEN BALL-SHAPED ROBOTS

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