This paper describes a prototype and analytical studies of a spherical rolling robot, a new design of a nonholonomic robot system. The spherical robot is driven together by an internal linear motor, continuously changing the center of gravity, and external wind thrust. A mathematical model of the robot’s motion was developed using Maggi’s equations without the Lagrange’s multipliers from a view of the nonholonomic constraint. An obstacle avoidance experiment was carried out to analyze the law of motion of the robot driven three ways: external wind driven, internal motor driven, and a combination of both. The results demonstrate that the proposed dynamic model is valid for the spherical robots driven by the different ways for environmental exploration.


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    Titel :

    Dynamic Modeling and Simulation of the Internal- and External-Driven Spherical Robot


    Beteiligte:
    Li, Tuanjie (Autor:in) / Wang, Zuowei (Autor:in) / Ji, Zhifei (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2011-09-10


    Format / Umfang :

    52012-01-01 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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