TY - GEN
T1 - Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels
AU - Yuan, Zhicheng
AU - Chen, Xuechao
AU - Wu, Jiahao
AU - Ren, Siyu
AU - Yu, Zhangguo
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Spherical robot has good potential for complex environment adaptation, but the single internal driving principle limits its multifaceted performance. In this paper, we present a composite driving principle which uses pendulum and momentum wheels. The abilities to change motion state and surmount obstacles have been improved. This article also contains the dynamic analysis and a controller of this driving principle. Finally, we implement necessary simulations and experiments to prove the performance of this driving principle in both aspects.
AB - Spherical robot has good potential for complex environment adaptation, but the single internal driving principle limits its multifaceted performance. In this paper, we present a composite driving principle which uses pendulum and momentum wheels. The abilities to change motion state and surmount obstacles have been improved. This article also contains the dynamic analysis and a controller of this driving principle. Finally, we implement necessary simulations and experiments to prove the performance of this driving principle in both aspects.
UR - http://www.scopus.com/inward/record.url?scp=85171541199&partnerID=8YFLogxK
U2 - 10.1109/ICARM58088.2023.10218907
DO - 10.1109/ICARM58088.2023.10218907
M3 - Conference contribution
AN - SCOPUS:85171541199
T3 - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
SP - 522
EP - 527
BT - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
Y2 - 8 July 2023 through 10 July 2023
ER -