Introducing Glory: A Novel Strategy for an Omnidirectional Spherical Rolling Robot

Javadi, Amir-Homayoun and Mojabi, Puyan (2004) Introducing Glory: A Novel Strategy for an Omnidirectional Spherical Rolling Robot. Journal of Dynamic Systems, Measurement, and Control, 126 (3). p. 678. ISSN 0022-0434. (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)

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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 dis- tribute weights radially along spokes fixed inside the sphere and enables the robot to accelerate, decelerate, and move with con- stant velocity. A mathematical model of the robot’s dynamic and motion was instructed. An algorithmic motion planning is devel- oped and, partly, pseudocode of that is presented. For a number of missions, it is shown experimentally that the model agrees well with the results.

Item Type: Article
Uncontrolled keywords: omnidirectional,rolling,spherical robot
Subjects: B Philosophy. Psychology. Religion > BF Psychology
Divisions: Faculties > Social Sciences > School of Psychology > Cognitive Psychology
Depositing User: Amir-Homayoun Javadi
Date Deposited: 03 Dec 2015 10:44 UTC
Last Modified: 07 Dec 2015 12:24 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/52620 (The current URI for this page, for reference purposes)
Javadi, Amir-Homayoun: https://orcid.org/0000-0003-0569-6441
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