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

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.

Dynamics-Based Motion Planning for a Pendulum-Actuated Spherical Rolling Robot

2018 ◽  
Vol 23 (4) ◽  
pp. 372-388 ◽  
Author(s):  
Yang Bai ◽  
Mikhail Svinin ◽  
Motoji Yamamoto
Keyword(s):  
Motion Planning ◽  
Rolling Robot

A Motion Planning Strategy for a Spherical Rolling Robot Driven by Two Internal Rotors

2014 ◽  
Vol 30 (4) ◽  
pp. 993-1002 ◽  
Author(s):  
Akihiro Morinaga ◽  
Mikhail Svinin ◽  
Motoji Yamamoto
Keyword(s):  
Motion Planning ◽  
Planning Strategy ◽  
Rolling Robot
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