Dynamic Obstacle Overcoming Capability of Pendulum-driven Ball-Shaped Robots
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School of Electrical Engineering |
A4 Artikkeli konferenssijulkaisussa
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en
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329-338
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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.Description
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Ylikorpi, Tomi & Forsman, Pekka & Halme, Aarne. 2014. Dynamic Obstacle Overcoming Capability of Pendulum-driven Ball-Shaped Robots. 17th IASTED International Conference Robotics Applications (RA 2014). P. 329-338. ISBN 978-0-88986-968-4 (electronic).