The underwater rolling capability of 3-RPS rolling robot

2021 ◽  
Author(s):  
Minghui Zhang ◽  
Elton Taringa ◽  
Chuanlei Zhou ◽  
Haiqiang Zhang ◽  
Yanan Yao
Keyword(s):  
Rolling Robot

Design and Manufacturing of a Bioinspired Spider Rolling Robot for Mars Exploration

2021 ◽  
Author(s):  
Cole Dunning ◽  
Rodrigo Cervantes ◽  
Lorena Velasquez ◽  
Anastasia Western ◽  
Michelle Sherman ◽  
...  
Keyword(s):  
Mars Exploration ◽  
Design And Manufacturing ◽  
Rolling Robot

scholarly journals Development of a Minimally Actuated Jumping-Rolling Robot

10.5772/60495 ◽  
2015 ◽  
Vol 12 (4) ◽  
pp. 45 ◽  
Author(s):  
Thanhtam Ho ◽  
Sangyoon Lee
Keyword(s):  
Rolling Robot

Nonlinear optimal control for a spherical rolling robot

2018 ◽  
Vol 3 (2) ◽  
pp. 221-237
Author(s):  
G. Rigatos ◽  
K. Busawon ◽  
J. Pomares ◽  
M. Abbaszadeh
Keyword(s):  
Optimal Control ◽  
Nonlinear Optimal Control ◽  
Rolling Robot

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
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