Paper Info
Title
Mechanical development and control of a miniature nonholonomic spherical rolling robot
Abstract
In this paper, a miniature nonholonomic spherical rolling robot capable of navigating over two dimensional surfaces is described. This 55 gram spherical robot consists of a 6 cm diameter external spherical shell driven by an internal two-wheeled differential drive cart. A gravity powered pendulum effect is produced as the internal device climbs up the internal surface of the shell, propelling the robot forward up to a speed of 0.16m/s. We derived its dynamic model using Lagrangian, and studied its dynamics and performance under various applied torques. The spherical robot is built and its overall mechanical, hardware and control architecture are elaborated. Experiments are conducted to evaluate the robot open and closed loop performance on a linear trajectory, captured using an optical motion capture system. We showed that with our implemented PD controller, the robot can follow the desired orientation.
Year
DOI
Venue
2014
10.1109/ICARCV.2014.7064610
ICARCV
Keywords
Field
DocType
robot dynamics,pd control,motion control,internal two-wheeled differential drive cart,optical motion capture system,closed loop system,mobile robots,linear trajectory,gravity powered pendulum effect,dynamic model,mechanical variables control,miniature nonholonomic spherical rolling robot control,two dimensional surfaces,pd controller,microrobots,mechanical development,closed loop systems,mathematical model,trajectory,torque
Robot control,Robot calibration,Computer science,Control theory,Robot kinematics,Spherical robot,Control engineering,Robot end effector,Cartesian coordinate robot,Mobile robot,Articulated robot
Conference
ISSN
Citations 
PageRank 
2474-2953
2
0.39
References 
Authors
5
6
Name
Order
Citations
PageRank
Xuelei Niu120.39
Adi P. Suherlan220.39
Gim Song Soh31114.34
Shaohui Foong44023.68
Kristin L. Wood510815.90
Kevin N. Otto631.46