Visual positioning system for small-scaled spherical robot in underwater environment
Sign Up to like & getrecommendations! Published in 2019 at "Microsystem Technologies"
DOI: 10.1007/s00542-018-3979-y
Abstract: Aiming at application requirements of our small-scaled spherical amphibious robots, a visual positioning system adopting the model of depth image and feature fusion was designed and implemented in this paper. Considering the narrow load space,… read more here.
Keywords: positioning system; visual positioning; small scaled; spherical robot ... See more keywords
Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control With Input Saturation for a Non-Holonomic Spherical Robot
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.3030775
Abstract: We develop a new robust control scheme for a non-holonomic spherical robot. To this end, the mathematical model of a pendulum driven non-holonomic spherical robot is first presented. Then, a recurrent neural network-based robust nonsingular… read more here.
Keywords: neural network; control; spherical robot; recurrent neural ... See more keywords
Multi-terrain Velocity Control of the Spherical Robot by Online Obtaining the Uncertainties in the Dynamics
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3141210
Abstract: One controller cannot work on multiple and unknown terrains in the velocity control of the spherical robot, because the dynamic models of the robot vary on different terrains, and unmodeled dynamics and uncertainties exist in… read more here.
Keywords: control spherical; velocity; controller; spherical robot ... See more keywords
Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3203224
Abstract: A spherical robot is a nonlinear, nonholonomic, and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller Hierarchical Terminal Sliding Mode Controller… read more here.
Keywords: trajectory tracking; sliding mode; control; controller ... See more keywords
Design and Motion Control of Spherical Robot With Built-In Four-Wheel Omnidirectional Mobile Platform
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2023.3267524
Abstract: The objective of this article is to propose a novel spherical robot with a built-in four-wheel omnidirectional mobile platform. The employment of a four-wheel structure helps to improve the friction coefficient and thus reduce the… read more here.
Keywords: robot built; motion; spherical robot; four wheel ... See more keywords
Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane
Sign Up to like & getrecommendations! Published in 2018 at "Doklady Physics"
DOI: 10.1134/s1028335818070091
Abstract: This paper is concerned with a model of the controlled motion of a spherical robot with an axisymmetric pendulum actuator on an inclined plane. First integrals of motion and partial solutions are presented and their… read more here.
Keywords: motion; motion spherical; controlled motion; spherical robot ... See more keywords
Control of the Rolling Motion of a Spherical Robot on an Inclined Plane
Sign Up to like & getrecommendations! Published in 2018 at "Doklady Physics"
DOI: 10.1134/s1028335818100099
Abstract: In this work we consider the controlled motion of a pendulum spherical robot on an inclined plane. The algorithm for determining the control actions for the motion along an arbitrary trajectory and examples of numerical… read more here.
Keywords: inclined plane; robot inclined; motion; spherical robot ... See more keywords
Dynamics of a Spherical Robot with Variable Moments of Inertia and a Displaced Center of Mass
Sign Up to like & getrecommendations! Published in 2020 at "Regular and Chaotic Dynamics"
DOI: 10.1134/s156035472006012x
Abstract: The motion of a spherical robot with periodically changing moments of inertia, internal rotors and a displaced center of mass is considered. It is shown that, under some restrictions on the displacement of the center… read more here.
Keywords: displaced center; center mass; moments inertia; spherical robot ... See more keywords
Design and Modelling of an Amphibious Spherical Robot Attached with Assistant Fins
Sign Up to like & getrecommendations! Published in 2021 at "Applied Sciences"
DOI: 10.3390/app11093739
Abstract: Mobile robots that can survive in unstructured wildernesses is essential in many applications such as environment detecting and security surveillance. In many of these applications, it is highly desirable that the robot can adapt robustly… read more here.
Keywords: amphibious spherical; spherical robot; robot; environment ... See more keywords
Dynamic Analysis and Path Planning of a Turtle-Inspired Amphibious Spherical Robot
Sign Up to like & getrecommendations! Published in 2022 at "Micromachines"
DOI: 10.3390/mi13122130
Abstract: A dynamic path-planning algorithm based on a general constrained optimization problem (GCOP) model and a sequential quadratic programming (SQP) method with sensor input is proposed in this paper. In an unknown underwater space, the turtle-inspired… read more here.
Keywords: amphibious spherical; path planning; path; spherical robot ... See more keywords