Name
Abstract | ||
|---|---|---|
Cylinders exhibits characteristic dynamic behavior such as rolling with lateral-side or edges. In this paper, we propose a new type of rolling mobile robot with cylindrical aspect, which performs two contrastive modes of motion due to the geometry of its shape. In the first mode called lateral-side rolling, the robot is statically stable except few degree of freedom, whereas the robot is only dynamically stable in the other mode (called edge-rolling) and has potential of high mobility. In this work, we attempt to control this robot using an eccentric rotor without gyroscope and applying linear or nonlinear control theory. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6386124 | Intelligent Robots and Systems |
Keywords | Field | DocType |
mobile robots,nonlinear control systems,robot dynamics,stability,cylindrical aspect,cylindrical mobile robot,dynamic behavior,eccentric rotor,gyroscope,nonlinear control theory,rolling mobile robot,shape geometry | Gyroscope,Robot calibration,Control theory,Computer science,Nonlinear control,Robot kinematics,Control engineering,Cartesian coordinate robot,Robot,Mobile robot,Articulated robot | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4673-1737-5 | 0 |
PageRank | References | Authors |
0.34 | 3 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tetsurou Hirano | 1 | 0 | 0.34 |
| Masato Ishikawa | 2 | 150 | 38.92 |
| Koichi Osuka | 3 | 132 | 42.74 |