09. Konferenssit, seminaarit ja kokoomateokset / Conferences, Seminars and Compiled works

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Yliopiston järjestämien konferenssien kokoomateoksia / Conference proceedings of the university's events

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Browsing 09. Konferenssit, seminaarit ja kokoomateokset / Conferences, Seminars and Compiled works by Subject ", Euler-Lagrange equation"

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  • Dynamic Obstacle Overcoming Capability of Pendulum-driven Ball-Shaped Robots
    (2014) Ylikorpi, Tomi; Forsman, Pekka; Halme, Aarne
     School of Electrical Engineering | A4 Artikkeli konferenssijulkaisussa
    This paper discusses dynamic step-crossing capability of pendulum-driven ball-shaped robots. We introduce an extended dynamic model that allows modeling of ballrobot rolling, bouncing and slipping. Based on the new model, our simulations predict the maximum over-passable step-height for the robot. The simulation results agree well with the result from a parallel simulation in Adamssoftware as well as with practical experiments. The new dynamic model can be applied for mobility analysis of robot-ball designs as well as for path planning.