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 review of active mechanical driving principles of spherical robots
R Chase, A Pandya - Robotics, 2012 - mdpi.com
Spherical robotics is an emerging research field due to a ball's characteristic to be
holonomic, have a sealed internal environment, and rebound from collisions easily. As the …
holonomic, have a sealed internal environment, and rebound from collisions easily. As 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 …
On reachable set problem for impulse switched singular systems with mixed delays
X Zhang, Z Feng, X Zhang - IET Control Theory & Applications, 2023 - Wiley Online Library
This paper focuses on the reachable set problem for impulse switched singular (ISS)
systems with mixed time‐varying delays via the Lyapunov theory. To solve the state …
systems with mixed time‐varying delays via the Lyapunov theory. To solve the state …
Design and analysis of a spherical mobile robot
A spherical mobile robot, rolling on a plane with the help of two internal rotors and working
on the principle of conservation of angular momentum has recently been fabricated in our …
on the principle of conservation of angular momentum has recently been fabricated in our …
Improved A* algorithm for path planning of spherical robot considering energy consumption
H Ge, Z Ying, Z Chen, W Zu, C Liu, Y ** - Sensors, 2023 - mdpi.com
Spherical robots have fully wrapped shells, which enables them to walk well on complex
terrains, such as swamps, grasslands and deserts. At present, path planning algorithms for …
terrains, such as swamps, grasslands and deserts. At present, path planning algorithms for …
[HTML][HTML] Spherical rolling robots—Design, modeling, and control: A systematic literature review
Spherical robots have garnered increasing interest for their applications in exploration,
tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including …
tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including …
Improved hybrid A* path planning method for spherical mobile robot based on pendulum
This article proposes a modification of hybrid A* method used for navigation of spherical
mobile robots with the ability of limited partial lateral movement driven by pendulum. For …
mobile robots with the ability of limited partial lateral movement driven by pendulum. For …
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 …
How to control Chaplygin's sphere using rotors
In the paper we study the control of a balanced dynamically non-symmetric sphere with
rotors. The no-slip condition at the point of contact is assumed. The algebraic controllability …
rotors. The no-slip condition at the point of contact is assumed. The algebraic controllability …