Design, Fabrication and Control of Spherobot: A Spherical Mobile Robot

被引：34
|
作者：
Tomik, Filip [3 ]
Nudehi, Shahin [2 ]
Flynn, Louis L. [1 ]
Mukherjee, Ranjan [1 ]
机构：
[1] Michigan State Univ, Dept Mech Engn, E Lansing, MI 48824 USA
[2] Valparaiso Univ, Dept Mech Engn, Valparaiso, IN 46383 USA
[3] Ford Motor Co, SMT Grp, Dearborn, MI 48121 USA
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2012年 / 67卷 / 02期
基金：
美国国家科学基金会;
关键词：
Mobile robot; Spherobot; Mechanical design; Mass unbalance; Adaptive estimation; MOTION;
D O I：
10.1007/s10846-012-9652-2
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In the literature, Spherobot refers to a mobile robot with a spherical exo-skeleton and a propulsion mechanism that uses unbalance masses in a tetrahedral arrangement. A modified design of Spherobot, that is better suited to fabrication, is presented in this paper. The modified propulsion mechanism and other components of the design are discussed in detail to highlight the challenges of fabrication. An adaptive estimation and control algorithm used for position control of the unbalance masses and a steering algorithm used for motion control of Spherobot are also discussed. Experimental results of the Spherobot navigating a hallway with bends is presented.
引用
收藏
页码：117 / 131
页数：15
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