2008 IEEE Conference on Robotics, Automation and Mechatronics 2008
DOI: 10.1109/ramech.2008.4681358
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Stabilization and Path Following of a Spherical Robot

Abstract: In this paper, we present a spherical mobile robot BYQ_III, for planetary surface exploration and security tasks.The driving torque for the rolling robot is generated by a new type of mechanism equipped with a counter-pendulum. This robot is nonholonomic in nature, and underactuated. In this paper, the three-dimensional (3-D) nonlinear dynamic model is developed, then decoupled to the longitudinal and lateral motions by linearization. Two sliding-mode controllers are proposed to asymptotically stabilize the tr… Show more

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Cited by 22 publications
(11 citation statements)
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“…This actuation principle can be realized by moving internal weights connected to rods. Rotating a mass within the sphere is another alternative way to actuate a rolling robot [8][9][10][11]. Trajectory tracking for pendulum-actuated robots was considered in [4,12,13,25].…”
Section: Introductionmentioning
confidence: 99%
“…This actuation principle can be realized by moving internal weights connected to rods. Rotating a mass within the sphere is another alternative way to actuate a rolling robot [8][9][10][11]. Trajectory tracking for pendulum-actuated robots was considered in [4,12,13,25].…”
Section: Introductionmentioning
confidence: 99%
“…(Zheng et al 2011;Cai et al 2012) Pendulum-driven ball robots, kinematic precession model Many studies define the path curvature directly from the ball radius and the sideways lean angle. (Laplante et al 2007;Nagai 2008;Liu et al 2008;Liu and Sun 2010;Ghanbari et al 2010;Mahboubi et al 2013) Kim et al (2009) start their study with a description of a finite contact area between a ball and a plane. The case is similar to that of a conical roller.…”
Section: Pendulum-driven Ball Robots No-spinning Constraintmentioning
confidence: 99%
“…In development of robot mechanics and control, simulators regularly represent the robotic system and its behavior. (For example: Hristu-Varsakelis 2001; Otani et al 2006;Jia et al 2008;Liu et al 2008;Ghanbari et al 2010;Ishikawa et al 2010;Zheng et al 2011;Cai et al 2012) Figure 1 presents the pendulum-driven GimBall-robot developed at Aalto University. Steering of this robot takes place by tilting the rolling axis sideways with the aid of the pendulum.…”
Section: Introductionmentioning
confidence: 99%
“…The so-called ballast mass with fixed axis system utilizes an inner pendular mechanism that consists of two rotational degrees of freedom (DoF). [18][19][20][21][22][23][24][25][26][27] The first one rotates around a fixed transverse axis and the second one around a longitudinal axis [see Fig. 2(c)].…”
Section: State Of the Art: Concepts And First Prototypesmentioning
confidence: 99%