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

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	522-527
Number of pages	6
ISBN (Electronic)	9798350300178
DOIs	https://doi.org/10.1109/ICARM58088.2023.10218907
Publication status	Published - 2023
Event	8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023 - Sanya, China Duration: 8 Jul 2023 → 10 Jul 2023

Publication series

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

Conference

Conference	8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
Country/Territory	China
City	Sanya
Period	8/07/23 → 10/07/23

Access to Document

10.1109/ICARM58088.2023.10218907

Cite this

Yuan, Z., Chen, X., Wu, J., Ren, S., & Yu, Z. (2023). Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels. In 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023 (pp. 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 et al. / 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. pp. 522-527 (2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023).

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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",

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doi = "10.1109/ICARM58088.2023.10218907",

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Yuan, Z, Chen, X, Wu, J, Ren, S & Yu, Z 2023, Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels. in 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., pp. 522-527, 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023, Sanya, China, 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 et al.
2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 522-527 (2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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Yuan Z, Chen X, Wu J, Ren S, Yu Z. Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels. In 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 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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