By Topic

Dynamic rolling locomotion by spherical mobile robots considering its generalized momentum

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Masato Ishikawa ; Dept. of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871 Japan ; Ryohei Kitayoshi ; Toshiharu Sugie

In this paper, we propose a spherical mobile robot, which is composed of a sphere-shaped outer shell and and a 2-d.o.f. mass-control device inside it. We assume that there exists rolling contact constraint between the spherical surface of the robot and the floor. Our purpose is to realize locomotion control of the robot by appropriately actuating the internal driving mechanism. First, we derive a mathematical model of the robot as a nonlinear differential-algebraic equation (DAE). There are two differences between the conventional rolling sphere problem and our robot: (1) our robot is allowed to spin around the vertical axis, and therefore (2) we have to consider not only kinematics but also dynamics of the robot, because the angular momentum around the vertical axis plays an essential role its behavior.

Published in:

SICE Annual Conference 2010, Proceedings of

Date of Conference:

18-21 Aug. 2010