[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 …
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 …
[PDF][PDF] Research progress and development trend of spherical mobile robots
战**， **伟 - Journal of Mechanical Engineering, 2019 - qikan.cmes.org
Spherical mobile robot (spherical robot in short) is a fully enclosed robot with a ball-shaped
outer shell, which can move by shifting its gravity center or through the principle of …
outer shell, which can move by shifting its gravity center or through the principle of …
Multi-terrain velocity control of the spherical robot by online obtaining the uncertainties in the dynamics
One controller cannot work on multiple and unknown terrains in the velocity control of the
spherical robot, because the dynamic models of the robot vary on different terrains, and …
spherical robot, because the dynamic models of the robot vary on different terrains, and …
Direction and trajectory tracking control for nonholonomic spherical robot by combining sliding mode controller and model prediction controller
A spherical robot is a nonlinear, nonholonomic, and unstable system which increases the
difficulty of the direction and trajectory tracking problem. In this study, we propose a new …
difficulty of the direction and trajectory tracking problem. In this study, we propose a new …
Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: Theory and experiments
YL Karavaev, AA Kilin - Proceedings of the Steklov Institute of Mathematics, 2016 - Springer
We present the results of theoretical and experimental investigations of the motion of a
spherical robot on a plane. The motion is actuated by a platform with omniwheels placed …
spherical robot on a plane. The motion is actuated by a platform with omniwheels placed …
Algorithm for controlling an inertioid robot with a flywheel and an unbalance in conditions of restrictions on the angular acceleration of the unbalance
M Dosaev - Applied Mathematical Modelling, 2022 - Elsevier
The plane-parallel motion of a vibrating robot containing one unbalanced rotor and one
flywheel is considered. The robot body is supported by two points on a rough supporting …
flywheel is considered. The robot body is supported by two points on a rough supporting …
Design and kinematics of mechanically coupled two identical spherical robots
IH Sagsoz, T Eray - Journal of Intelligent & Robotic Systems, 2023 - Springer
The use of spherical robots in outdoor operations has increased because they can move on
uneven/three-dimensional (3D) terrain. Since the non-holonomic constraints and the rolling …
uneven/three-dimensional (3D) terrain. Since the non-holonomic constraints and the rolling …
[HTML][HTML] Rolling, tilting and spinning spherical wheels: analytical results using the brush theory
This paper investigates the rolling dynamics of spherical wheels using the theoretical
framework provided by the brush models. The analysis is mainly conducted under the …
framework provided by the brush models. The analysis is mainly conducted under the …
Point stabilization of nonholonomic spherical mobile robot using nonlinear model predictive control
MR Azizi, J Keighobadi - Robotics and Autonomous Systems, 2017 - Elsevier
Control of nonholonomic spherical mobile robot is a generalization of the classical ball-plate
problem which is still challenging in robotic researches. In this paper, point stabilization of a …
problem which is still challenging in robotic researches. In this paper, point stabilization of a …