Motion Direction Control of a Spherical Robot

Lufeng Zhang; Xuemei Ren

doi:10.1007/978-981-16-6320-8_81

Motion Direction Control of a Spherical Robot

Lufeng Zhang, Xuemei Ren^*

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

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

1 Citation (Scopus)

Abstract

This paper presents a new spherical robot design with pendulum driven mechanism. First of all, the detailed structure and how the spherical robot works are introduced. Then, the turning radius range of the spherical robot is researched. Next, based on Newton-Eulers law, the dynamic model equation of the spherical robot on left-right plane is derived. To control the robot to move forward, a RBF neural network based sliding mode controller (NN-SMC) is designed. Finally, the effectiveness of proposed controller is verified through simulations in Matlab software based on the designed spherical robot.

Original language	English
Title of host publication	Proceedings of 2021 Chinese Intelligent Systems Conference
Editors	Yingmin Jia, Weicun Zhang, Yongling Fu, Zhiyuan Yu, Song Zheng
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	786-793
Number of pages	8
ISBN (Print)	9789811663192
DOIs	https://doi.org/10.1007/978-981-16-6320-8_81
Publication status	Published - 2022
Event	17th Chinese Intelligent Systems Conference, CISC 2021 - Fuzhou, China Duration: 16 Oct 2021 → 17 Oct 2021

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	805 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	17th Chinese Intelligent Systems Conference, CISC 2021
Country/Territory	China
City	Fuzhou
Period	16/10/21 → 17/10/21

Keywords

Motion direction
NN-SMC
Spherical robot
Turning radius

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10.1007/978-981-16-6320-8_81

Cite this

Zhang, L., & Ren, X. (2022). Motion Direction Control of a Spherical Robot. In Y. Jia, W. Zhang, Y. Fu, Z. Yu, & S. Zheng (Eds.), Proceedings of 2021 Chinese Intelligent Systems Conference (pp. 786-793). (Lecture Notes in Electrical Engineering; Vol. 805 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-16-6320-8_81

@inproceedings{0dbe5209b64241afbb931d52f7407679,

title = "Motion Direction Control of a Spherical Robot",

abstract = "This paper presents a new spherical robot design with pendulum driven mechanism. First of all, the detailed structure and how the spherical robot works are introduced. Then, the turning radius range of the spherical robot is researched. Next, based on Newton-Eulers law, the dynamic model equation of the spherical robot on left-right plane is derived. To control the robot to move forward, a RBF neural network based sliding mode controller (NN-SMC) is designed. Finally, the effectiveness of proposed controller is verified through simulations in Matlab software based on the designed spherical robot.",

keywords = "Motion direction, NN-SMC, Spherical robot, Turning radius",

author = "Lufeng Zhang and Xuemei Ren",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 17th Chinese Intelligent Systems Conference, CISC 2021 ; Conference date: 16-10-2021 Through 17-10-2021",

year = "2022",

doi = "10.1007/978-981-16-6320-8_81",

language = "English",

isbn = "9789811663192",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "786--793",

editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Zhiyuan Yu and Song Zheng",

booktitle = "Proceedings of 2021 Chinese Intelligent Systems Conference",

address = "Germany",

}

Zhang, L & Ren, X 2022, Motion Direction Control of a Spherical Robot. in Y Jia, W Zhang, Y Fu, Z Yu & S Zheng (eds), Proceedings of 2021 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol. 805 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 786-793, 17th Chinese Intelligent Systems Conference, CISC 2021, Fuzhou, China, 16/10/21. https://doi.org/10.1007/978-981-16-6320-8_81

Motion Direction Control of a Spherical Robot. / Zhang, Lufeng; Ren, Xuemei.
Proceedings of 2021 Chinese Intelligent Systems Conference. ed. / Yingmin Jia; Weicun Zhang; Yongling Fu; Zhiyuan Yu; Song Zheng. Springer Science and Business Media Deutschland GmbH, 2022. p. 786-793 (Lecture Notes in Electrical Engineering; Vol. 805 LNEE).

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

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AU - Zhang, Lufeng

AU - Ren, Xuemei

PY - 2022

Y1 - 2022

N2 - This paper presents a new spherical robot design with pendulum driven mechanism. First of all, the detailed structure and how the spherical robot works are introduced. Then, the turning radius range of the spherical robot is researched. Next, based on Newton-Eulers law, the dynamic model equation of the spherical robot on left-right plane is derived. To control the robot to move forward, a RBF neural network based sliding mode controller (NN-SMC) is designed. Finally, the effectiveness of proposed controller is verified through simulations in Matlab software based on the designed spherical robot.

AB - This paper presents a new spherical robot design with pendulum driven mechanism. First of all, the detailed structure and how the spherical robot works are introduced. Then, the turning radius range of the spherical robot is researched. Next, based on Newton-Eulers law, the dynamic model equation of the spherical robot on left-right plane is derived. To control the robot to move forward, a RBF neural network based sliding mode controller (NN-SMC) is designed. Finally, the effectiveness of proposed controller is verified through simulations in Matlab software based on the designed spherical robot.

KW - Motion direction

KW - NN-SMC

KW - Spherical robot

KW - Turning radius

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U2 - 10.1007/978-981-16-6320-8_81

DO - 10.1007/978-981-16-6320-8_81

M3 - Conference contribution

AN - SCOPUS:85117933513

SN - 9789811663192

T3 - Lecture Notes in Electrical Engineering

SP - 786

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BT - Proceedings of 2021 Chinese Intelligent Systems Conference

A2 - Jia, Yingmin

A2 - Zhang, Weicun

A2 - Fu, Yongling

A2 - Yu, Zhiyuan

A2 - Zheng, Song

PB - Springer Science and Business Media Deutschland GmbH

T2 - 17th Chinese Intelligent Systems Conference, CISC 2021

Y2 - 16 October 2021 through 17 October 2021

ER -

Motion Direction Control of a Spherical Robot

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