@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",
}