Introducing Glory: A Novel Strategy for an Omnidirectional Spherical Rolling Robot

2004 ◽  
Vol 126 (3) ◽  
pp. 678-683 ◽  
Author(s):  
Amir Homayoun Javadi A. ◽  
Puyan Mojabi
Keyword(s):  
Mathematical Model ◽  
Motion Planning ◽  
Constant Velocity ◽  
Spherical Robot ◽  
Robot System ◽  
Propulsion Mechanism ◽  
Analytical Studies ◽  
Internal Mechanism ◽  
Novel Strategy ◽  
Rolling Robot

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

Analysis and Simulation of a Spherical Robot

2010 ◽  
Vol 171-172 ◽  
pp. 748-751 ◽  
Author(s):  
Sheng Ju Sang ◽  
Ding Shen ◽  
Ji Chao Zhao ◽  
Jia Yang Hu ◽  
Qi An
Keyword(s):  
Mathematical Model ◽  
3D Model ◽  
Spherical Robot ◽  
Internal Mechanism

In this paper, a spherical robot with an internal mechanism for propulsion is briefly introduced. The spherical robot is actuated and steered through a couter-weight pendulum connected to the main axle, a drived motor and a steer motor. A mathematical model of the robot’s dynamic and motion is instructed. The 3D model of the robot is built by SOLIDWORKS and then exported to ADAMS for simulation. For a number of missions, it is shown experimentally that the model agrees well with the results.

Adaptive motion selection for online hand–eye calibration

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 529-536
Author(s):  
Jing Zhang ◽  
Fanhuai Shi ◽  
Yuncai Liu
Keyword(s):  
Motion Planning ◽  
Dynamic Threshold ◽  
Selection Algorithm ◽  
Robot System ◽  
End Effector ◽  
Threshold Determination ◽  
Robot Gripper ◽  
Adaptive Motion ◽  
Selection For ◽  
Relative Pose

SUMMARYWhile a robot moves, online hand–eye calibration to determine the relative pose between the robot gripper/end-effector and the sensors mounted on it is very important in a vision-guided robot system. During online hand–eye calibration, it is impossible to perform motion planning to avoid degenerate motions and small rotations, which may lead to unreliable calibration results. This paper proposes an adaptive motion selection algorithm for online hand–eye calibration, featured by dynamic threshold determination for motion selection and getting reliable hand–eye calibration results. Simulation and real experiments demonstrate the effectiveness of our method.

Velocity Control of a Cylindrical Rolling Robot by Surface-Morphing

2015 ◽  
Author(s):  
Michael Puopolo ◽  
J. D. Jacob
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Velocity Profile ◽  
Average Velocity ◽  
Equations Of Motion ◽  
Angular Position ◽  
Velocity Control ◽  
Control Scheme ◽  
Rolling Robot ◽  
Angular Velocity Profile

A mathematical model is developed for a rolling robot with a cylindrically-shaped, elliptical outer surface that has the ability to alter its shape as it rolls, resulting in a torque imbalance that accelerates or decelerates the robot. A control scheme is implemented, whereby angular position and angular velocity are used as feedback to trigger and define morphing actuation. The goal of the control is to direct the robot to follow a given angular velocity profile. Equations of motion for the rolling robot are formulated and solved numerically. Results show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to start from rest, achieve constant average velocity and slow itself in order to follow a desired velocity profile with significant accuracy.

scholarly journals Motion Planning of Kinematically Redundant 12-tetrahedral Rolling Robot

10.5772/62178 ◽  
2016 ◽  
Vol 13 (1) ◽  
pp. 23 ◽  
Author(s):  
Xingbo Wang ◽  
Xiaotao Wang ◽  
Zhongpeng Zhang ◽  
Ying Zhao
Keyword(s):  
Motion Planning ◽  
Rolling Robot

MASA MENUNGGU KERANA MASA LENGAH BAS DI PUTRAJAYA

2017 ◽  
Vol 79 (2) ◽  
Author(s):  
Ruslawati Abdul Wahab ◽  
Muhamad Nazri Borhan ◽  
Riza Atiq Abdullah O.K. Rahmat
Keyword(s):  
Mathematical Model ◽  
Time Delay ◽  
Traffic Flow ◽  
Waiting Time ◽  
Constant Velocity ◽  
Arrival Times ◽  
Design Expert ◽  
Departure Time ◽  
Bus Service ◽  
Saturated Traffic

Passenger waiting time is included in the estimated travel time. Waiting time will be unstable and unpredictable in estimation because of inconsistencies of bus arrival times at stops. These can result an unreliable of bus service. This paper examines the waiting time due to three factors; delay resulting from inaccuracies of bus departure time, delay during the process of boarding and alighting passengers and delay when the bus unable to maintain constant velocity because of saturated traffic flow. The research used the combination of mathematical model and Design Expert Research Methodology Surface (RSM) applications which has pivotal role in acquire optimum waiting time based on constraints delay between two arrival times at stop. The optimum waiting time obtained from the output design target in range 0-15 minutes were 4 minutes for route L01 and 5.87 minutes for L05. The estimated waiting time obtained from this research can be used as a key feature in the design of buses operating to minimize the delay and at the same time get the reliability of passengers.

Mobile Robots Characterized by Kinematic and Dynamic Equations: Motion Planning, Trajectory Tracking, and Group Control

2008 ◽  
Author(s):  
Amit Ailon
Keyword(s):  
Mathematical Model ◽  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Equations ◽  
Kinematics And Dynamics ◽  
Control Problems ◽  
Reference Trajectory ◽  
Numerical Examples ◽  
Group Control ◽  
The Mathematical Model

The paper solves some control problems of mobile robots as both kinematics and dynamics are intertwined in the mathematical model. The problems of driving the vehicle to a desired configuration in a specified time and tracking a reference trajectory are considered. The control problems associated with motion in convoy and rigid formations of a group of vehicles are studied and some results are demonstrated by numerical examples.

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