Abstract:
A spherical mobile robot, BHQ-1, designed for environment exploration, was briefly introduced. The dynamic model of BHQ-1 was established with a simplified Boltzmann-Hame...Show MoreMetadata
Abstract:
A spherical mobile robot, BHQ-1, designed for environment exploration, was briefly introduced. The dynamic model of BHQ-1 was established with a simplified Boltzmann-Hamel equation. From the dynamic model the expressions of the input moments of two motors to drive the robot are deduced when the robot moves along straight trajectory and circular trajectory separately. Simulation result of the robot to track a complex trajectory and experiments of the robot to avoid an obstacle show the trajectory planning method is effective.
Date of Conference: 01-03 June 2006
Date Added to IEEE Xplore: 04 December 2006
ISBN Information:
Contents 