Development of a holonomic mobile spherical robot with 3D center of gravity shifting actuators
Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45) › 32_Refereed conference paper (with host publication) › peer-review
Author(s)
Detail(s)
| Original language | English |
|---|---|
| Title of host publication | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 438-442 |
| ISBN (Print) | 9781509043644 |
| Publication status | Published - 27 Feb 2017 |
Conference
| Title | 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) |
|---|---|
| Place | China |
| City | Qingdao |
| Period | 3 - 7 December 2016 |
Link(s)
Abstract
We present our development of a spherical robot prototype that is designed to be completely enclosed, weatherproof, and capable of rolling holonomically on flat or inclined two-dimensional planes. By constantly shifting the robot's center of gravity in predetermined three-dimensional patterns, the corresponding two-dimensional trajectories can be mapped. Because we use only stepper motors to shift the center of gravity, all payload motions are translational only; thus, the wired connections between the battery-and-controller-equipped payload and the motor's attached gimbal frame mechanisms will not be tangled.
Citation Format(s)
Development of a holonomic mobile spherical robot with 3D center of gravity shifting actuators. / Chen, Meng; Sun, Winston; Gao, Yingpeng et al.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 438-442 7866361.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 438-442 7866361.
Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45) › 32_Refereed conference paper (with host publication) › peer-review
