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Introducing August: a novel strategy for an omnidirectional spherical rolling robot

Javadi, Amir-Homayoun, Mojabi, Puyan (2002) Introducing August: a novel strategy for an omnidirectional spherical rolling robot. In: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided. (Contact us about this Publication)
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http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.h...

Abstract

This paper describes a prototype and analytical studies of a spherical rolling robot, a new design of an omnidirectional robot system. The robot can arbitrarily begin to move in any direction to the target, and autonomously roll and reach any desired position. Our design has considered a spherical robot with an internal mechanism for propulsion. The propulsion mechanism will distribute weights radially along spokes fixed inside the sphere and enables the robot to accelerate, decelerate, and move with constant velocity. A mathematical model of the robot’s dynamic and motion was instructed. An algorithmic motion planning is developed and, partly, pseudo-code of that is presented. For a number of missions, it is shown experimentally that the model agrees well with the results.

Item Type: Conference or workshop item (Lecture)
Uncontrolled keywords: omnidirectional,rolling,spherical robot
Subjects: T Technology > TJ Mechanical engineering and machinery > Control engineering
Divisions: Faculties > Sciences > School of Engineering and Digital Arts > Instrumentation, Control and Embedded Systems
Depositing User: Amir-Homayoun Javadi
Date Deposited: 03 Dec 2015 11:42 UTC
Last Modified: 29 May 2019 16:34 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/52618 (The current URI for this page, for reference purposes)
Javadi, Amir-Homayoun: https://orcid.org/0000-0003-0569-6441
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