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[HTML][HTML] Spherical robots for special purposes: a review on current possibilities
The review discusses the possibilities of different driving mechanisms and sensors of
spherical robots, and a special kind of mobile robots is introduced and discussed. The …
spherical robots, and a special kind of mobile robots is introduced and discussed. The …
A wheeled robot driven by a liquid‐metal droplet
The controlled actuation of gallium liquid‐metal (LM) alloys has presented new and exciting
opportunities for constructing mobile robots with structural flexibility. However, the …
opportunities for constructing mobile robots with structural flexibility. However, the …
Adaptive neuro-fuzzy control of a spherical rolling robot using sliding-mode-control-theory-based online learning algorithm
As a model is only an abstraction of the real system, unmodeled dynamics, parameter
variations, and disturbances can result in poor performance of a conventional controller …
variations, and disturbances can result in poor performance of a conventional controller …
Modeling and control of a spherical rolling robot: a decoupled dynamics approach
This paper presents the results of a study on the dynamical modeling, analysis, and control
of a spherical rolling robot. The rolling mechanism consists of a 2-DOF pendulum located …
of a spherical rolling robot. The rolling mechanism consists of a 2-DOF pendulum located …
Spherical mobile robot with pivoting head
M Ellerman, C Hardouin - US Patent 10,399,616, 2019 - Google Patents
A mobile, spherical robot includes a spheroid shell, an internal assembly secured to the
shell, and a head disposed atop the shell. The internal assembly is disposed within the shell …
shell, and a head disposed atop the shell. The internal assembly is disposed within the shell …
Design and implementation of a ball-driven omnidirectional spherical robot
We designed and implemented a novel omnidirectional spherical robot. Instead of using
wheels or flywheels, a driven ball is installed inside the spherical shell and driven by two …
wheels or flywheels, a driven ball is installed inside the spherical shell and driven by two …
Fuzzy PID controller based on yaw angle prediction of a spherical robot
In this paper, a fuzzy PID controller based on yaw angle prediction is applied to design an
attitude controller for a spherical rolling robot. The robot consists of a 2-DOF pendulum …
attitude controller for a spherical rolling robot. The robot consists of a 2-DOF pendulum …
Design and locomotion analysis of a novel modular rolling robot
This paper proposes a novel morphological modular robot that is capable of switching
multiple directions and rolling locomotion. The mechanism of the robot resembles a …
multiple directions and rolling locomotion. The mechanism of the robot resembles a …
A motion planning strategy for a spherical rolling robot driven by two internal rotors
This paper deals with a motion planning problem for a spherical rolling robot actuated by
two internal rotors that are placed on orthogonal axes. The key feature of the problem is that …
two internal rotors that are placed on orthogonal axes. The key feature of the problem is that …
Position and attitude control of a spherical rolling robot equipped with a gyro
This paper deals with the problem of controlling the position and attitude of a spherical
rolling robot. The driving torque for the rolling robot is generated by a new type of …
rolling robot. The driving torque for the rolling robot is generated by a new type of …