Design of an Amphibious Spherical Robot Driven by Twin Eccentric Pendulums With Flywheel-Based Inertial Stabilization

Arif, Muhammad Affan; Zhu, Aibin; Mao, Han; Zhou, Xing; Song, Jun‐Yeob; Tu, Yao; Ma, Peifeng

doi:10.1109/tmech.2023.3247641

Cited by 9 publications

(1 citation statement)

References 27 publications

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“…Robots with multimodal locomotion capabilities, which benefit from combinational advantages to overcome the individual limitations, have drawn increasingly great attention in robotics. In order to maneuver in versatile domains such as terrestrial, aerial, and aquatic, several state-of-the-art hybrid robots have been explored [1][2][3][4][5][6][7][8][9]. Among these multimodal forms, legged systems with dexterous locomotion possess advanced potential in irregular terrain like walls [10], slopes [11], and uneven terrain [12], but the legged defect limits large-scale mobilities and tremendous obstacles.…”

Section: Introductionmentioning

confidence: 99%

Motion Control of a Hybrid Quadruped-Quadrotor Robot

Ouyang,

Chi,

et al. 2024

Actuators

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Multimodal motion capability is an emerging topic in the robotics field, and this paper presents a hybrid robot system maneuvering in both terrestrial and aerial environments. Firstly, a micro quadruped–quadrotor robot with onboard sensing and computing is developed. This robot incorporates both the high mobility of unmanned aerial vehicles and the long endurance of mobile robots on the ground. A coordinated motion control scheme is then exploited for adaptive terrestrial–aerial motion transition. In this scheme, a bio-inspired terrestrial locomotion controller is proposed to generate various quadruped locomotions, and a model-based aerial locomotion controller is proposed to generate various quadrotor configurations. Then, an unified motion controller for the two subsystems which dynamically adjusts crawling and flying motion in a complicated environment is presented. Consequently, several practical trials are conducted to demonstrate the adaptability and the robustness of the proposed system.

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Section: Introductionmentioning

confidence: 99%

Motion Control of a Hybrid Quadruped-Quadrotor Robot

Ouyang,

Chi,

et al. 2024

Actuators

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Artificial intelligence computational techniques of flywheel energy storage systems integrated with green energy: A comprehensive review

Draz,

Ashraf,

Makeen

2024

e-Prime - Advances in Electrical Engineering, Electronics and E

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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 of an Amphibious Spherical Robot Driven by Twin Eccentric Pendulums With Flywheel-Based Inertial Stabilization

Cited by 9 publications

References 27 publications

Motion Control of a Hybrid Quadruped-Quadrotor Robot

Motion Control of a Hybrid Quadruped-Quadrotor Robot

Artificial intelligence computational techniques of flywheel energy storage systems integrated with green energy: A comprehensive review

Panoramic visual system for spherical mobile robots

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