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Dynamical Analysis of Spherical Mobile Robot Utilizing Off-Centered Internal Mass Distribution

机译：利用偏心内部质量分布的球形移动机器人动力学分析

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Spherical rolling is an interesting methodology for locomotion from both nonlinear control and robotics points of view. In this paper, we propose a dynamical model of a spherical mobile robot with focus on the eccentricity of its center of gravity, i.e., the offset in the center of its mass distribution. The proposed robot has a rigid spherical shell as its body, which contains active 2-d.o.f. pendulum inside as the control component. The robot is supposed to roll on the at horizontal oor without any slippage, and to spin around the vertical axis depending on kinematical settings when allowed. Through the dynamical analysis based on the model and several numerical simulations, we observe that the settings concerned with the spin is so crucial that the sphere tends to be severely affected by the torque from the ground, and point out that it should be the essential factors for the modeling and new robot creation in the future work.
机译：从非线性控制和机器人学的角度来看，球面滚动是一种有趣的运动方法。在本文中，我们提出了一个球形移动机器人的动力学模型，该模型关注其重心的偏心率，即其质量分布中心的偏心距。所提出的机器人的主体为刚性球形外壳，其中包含活动的2-d.o.f。内摆作为控制组件。该机器人应该在水平桨叶上滚动而不会打滑，并在允许时根据运动学设置绕垂直轴旋转。通过基于模型的动力学分析和若干数值模拟，我们观察到与自旋有关的设置至关重要，以至于球倾向于受到来自地面的扭矩的严重影响，并指出应将其作为基本因素在将来的工作中用于建模和新的机器人创建。

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