Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.author Ylikorpi, Tomi
dc.contributor.author Forsman, Pekka
dc.contributor.author Halme, Aarne
dc.contributor.author Saarinen, Jari
dc.date.accessioned 2014-07-04T10:27:33Z
dc.date.available 2014-07-04T10:27:33Z
dc.date.issued 2014
dc.identifier.citation Ylikorpi, Tomi & Forsman, Pekka & Halme, Aarne & Saarinen, Jari. 2014. Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots. Proceedings of the 28th European Conference on Modelling and Simulation. ISBN 978-0-9564944-9-8 (electronic). ISBN 978-0-9564944-8-1 (printed). DOI: 10.7148/2014-0411. en
dc.identifier.isbn 978-0-9564944-9-8 (electronic)
dc.identifier.isbn 978-0-9564944-8-1 (printed)
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/13624
dc.description.abstract Dynamic models describing the ball-robot motion form the basis for developments in ball-robot mechanics and motion control systems. For this paper, we have conducted a literature review of decoupled forward-motion models for pendulum-driven ball-shaped robots. The existing models in the literature apply several different conventions in system definition and parameter notation. Even if describing the same mechanical system, the diversity in conventions leads into dynamic models with different forms. As a result, it is difficult to compare, reproduce and apply the models available in the literature. Based on the literature review, we reformulate all common variations of decoupled dynamic forward-motion models using a unified notation and formulation. We have verified all reformulated models through simulations, and present the simulation results for a selected model. In addition, we demonstrate the different system behavior resulting from different ways to apply the pendulum reaction torque, a variation that can be found in the literature. For anyone working with the ball-robots, the unified compilation of the reformulated dynamic models provides an easy access to the models, as well as to the related work. en
dc.format.extent 10
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher ECMS en
dc.relation.ispartof Proceedings of the 28th European Conference on Modelling and Simulation en
dc.subject.other Automation en
dc.title Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots en
dc.type A4 Artikkeli konferenssijulkaisussa fi
dc.description.version Peer reviewed en
dc.rights.holder ECMS
dc.contributor.school Sähkötekniikan korkeakoulu fi
dc.contributor.school School of Electrical Engineering en
dc.contributor.department Automaatio- ja systeemitekniikan laitos fi
dc.contributor.department Department of Automation and Systems Technology en
dc.subject.keyword ballshaped robots en
dc.subject.keyword robot dynamics en
dc.subject.keyword Euler-Lagrange equation en
dc.subject.keyword multi-body simulation en
dc.identifier.urn URN:ISBN:978-0-9564944-9-8
dc.type.dcmitype text en
dc.identifier.doi 10.7148/2014-0411
dc.type.version Post print en


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