Design and analysis of a spherical robot based on reaction wheel stabilization

Li, Cheng; Zhu, Aibin; Zheng, Chunli; Mao, Han; Arif, Muhammad Affan; Song, Jiyuan; Zhang, Yulin

doi:10.1109/ur55393.2022.9826266

Cited by 5 publications

(2 citation statements)

References 13 publications

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“…For instance, the L.U.N.A. prototype [7] and the design by C. Li et al [28] both utilize reaction wheels to enhance self-stability, despite challenges like high power consumption and control difficulties.…”

Section: Angular Momentummentioning

confidence: 99%

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Melchiorre,

Colamartino,

Ferrauto

et al. 2024

Robotics

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The spherical shape is an interesting approach to develop exploration robots, or rovers, thanks to its capability of ensuring omnidirectional motion and of being basically unsensitive to possible rollovers. This works intends to propose a novel detailed design for such a kind of robot and to discuss the performance that can be reached by adopting this solution. The work hence introduces the requirements assumed for the design of the robot and discloses the general layout that was selected, which includes a pendulum for motion transmission and two coupled gyroscopes to overcome high, steep obstacles, such as steps. The paper then summarizes the functional design computation carried out to size and selects the components of the system. Eventually, a control algorithm is described and tested on a complete multibody model of the robot. The results in the execution of standard maneuvers such as motion on a horizontal plane, as well as in the overcome of a step, are shown. The energetic balance of the rover is described, and some preliminary consideration about mission planning are reported in the final discussion.

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Section: Angular Momentummentioning

confidence: 99%

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Melchiorre,

Colamartino,

Ferrauto

et al. 2024

Robotics

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“…1. Reducing the cost of robots, complex mobile type UGV platform will be the most suitable solution [55,[104][105][106][107][108]. In addition, UGVs with high maneuverability will become a significant trend.…”

Section: Challengesmentioning

confidence: 99%

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Yue

Zheng

et al. 2023

Robotica

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This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.

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Panoramic visual system for spherical mobile robots

Arif,

Zhu,

Mao

et al. 2024

Robotica

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Aimed at the challenges of wide-angle mobile robot visual perception for diverse field applications, we present the spherical robot visual system that uses a 360° field of view (FOV) for realizing real-time object detection. The spherical robot image acquisition system model is developed with optimal parameters, including camera spacing, camera axis angle, and the distance of the target image plane. Two 180 $^{\circ}$ -wide panoramic FOVs, front and rear view, are formed using four on-board cameras. The speed of the SURF algorithm is increased for feature extraction and matching. For seamless fusion of the images, an improved fade-in and fade-out algorithm is used, which not only improves the seam quality but also improves object detection performance. The speed of the dynamic image stitching is significantly enhanced by using a cache-based sequential image fusion method. On top of the acquired panoramic wide FOVs, the YOLO algorithm is used for real-time object detection. The panoramic visual system for the spherical robot is then tested in real time, which outputs panoramic views of the scene at an average frame rate of 21.69 fps and panoramic views with object detection at an average of 15.39 fps.

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Design and analysis of a spherical robot based on reaction wheel stabilization

Cited by 5 publications

References 13 publications

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

Design of a Spherical Rover Driven by Pendulum and Control Moment Gyroscope for Planetary Exploration

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Panoramic visual system for spherical mobile robots

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