2023
DOI: 10.3390/s23083895
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Development and Control of a Real Spherical Robot

Abstract: This paper presents the design and implementation of a spherical robot with an internal mechanism based on a pendulum. The design is based on significant improvements made, including an electronics upgrade, to a previous robot prototype developed in our laboratory. Such modifications do not significantly impact its corresponding simulation model previously developed in CoppeliaSim, so it can be used with minor modifications. The robot is incorporated into a real test platform designed and built for this purpos… Show more

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Cited by 5 publications
(2 citation statements)
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“…There are different devices for the locomotion of a mobile robot; among these are the wheels, the tracks, and the articulated legs [7][8][9]. The differential drive mobile robot (DDMR) is the easiest to implement and control; it includes two motorized wheels (one on each side of its base) and a freewheel as a support point (in the front part of its base).…”
Section: Introductionmentioning
confidence: 99%
“…There are different devices for the locomotion of a mobile robot; among these are the wheels, the tracks, and the articulated legs [7][8][9]. The differential drive mobile robot (DDMR) is the easiest to implement and control; it includes two motorized wheels (one on each side of its base) and a freewheel as a support point (in the front part of its base).…”
Section: Introductionmentioning
confidence: 99%
“…Alternative proposals include asymmetric wheel distributions [23,30] and platforms with six [31][32][33] or eight wheels [34]. There are also other promising omnidirectional motion systems such as that used to create a statically stable ball robot in which the robot structure is built and balanced on the top of a ball [35], and spherical robots, which are mainly composed of a ball-shaped shell with the internal robot structure based on a pendulum [36,37].…”
Section: Introductionmentioning
confidence: 99%