Dynamic Obstacle Overcoming Capability of Pendulum-driven Ball-Shaped Robots

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Journal Title
Journal ISSN
Volume Title
School of Electrical Engineering | A4 Artikkeli konferenssijulkaisussa
Date
2014
Major/Subject
Mcode
Degree programme
Language
en
Pages
329-338
Series
Abstract
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
Keywords
Ball-shaped robots, robot dynamics, robot kinematics, , Euler-Lagrange equation, simulation.
Other note
Citation
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).