Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels

Zhicheng Yuan; Xuechao Chen; Jiahao Wu; Siyu Ren; Zhangguo Yu

doi:10.1109/ICARM58088.2023.10218907

Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels

Zhicheng Yuan, Xuechao Chen^*, Jiahao Wu, Siyu Ren, Zhangguo Yu

^*此作品的通讯作者

机电学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
出版商	Institute of Electrical and Electronics Engineers Inc.
页	522-527
页数	6
ISBN（电子版）	9798350300178
DOI	https://doi.org/10.1109/ICARM58088.2023.10218907
出版状态	已出版 - 2023
活动	8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023 - Sanya, 中国期限: 8 7月 2023 → 10 7月 2023

出版系列

姓名	2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

会议

会议	8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
国家/地区	中国
市	Sanya
时期	8/07/23 → 10/07/23

访问文件

10.1109/ICARM58088.2023.10218907

其它文件与链接

链接到 Scopus 的出版物

引用此

Yuan, Z., Chen, X., Wu, J., Ren, S., & Yu, Z. (2023). Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels. 在 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023 (页码 522-527). (2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM58088.2023.10218907

Yuan, Zhicheng ; Chen, Xuechao ; Wu, Jiahao 等. / Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels. 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023. Institute of Electrical and Electronics Engineers Inc., 2023. 页码 522-527 (2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023).

@inproceedings{38a53f7356864c0dab2ba49eda7d453f,

title = "Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels",

abstract = "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.",

author = "Zhicheng Yuan and Xuechao Chen and Jiahao Wu and Siyu Ren and Zhangguo Yu",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023 ; Conference date: 08-07-2023 Through 10-07-2023",

year = "2023",

doi = "10.1109/ICARM58088.2023.10218907",

language = "English",

series = "2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "522--527",

booktitle = "2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023",

address = "United States",

}

Yuan, Z, Chen, X, Wu, J, Ren, S & Yu, Z 2023, Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels. 在 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023. 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023, Institute of Electrical and Electronics Engineers Inc., 页码 522-527, 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023, Sanya, 中国, 8/07/23. https://doi.org/10.1109/ICARM58088.2023.10218907

Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels. / Yuan, Zhicheng; Chen, Xuechao; Wu, Jiahao 等.
2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023. Institute of Electrical and Electronics Engineers Inc., 2023. 页码 522-527 (2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

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 -

Yuan Z, Chen X, Wu J, Ren S, Yu Z. Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels. 在 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023. Institute of Electrical and Electronics Engineers Inc. 2023. 页码 522-527. (2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023). doi: 10.1109/ICARM58088.2023.10218907

Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels

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