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   Articles with "spherical robot" as a keyword



Janus Spherical Robot With Multiple Wettabilities for Droplet/ Bubble Manipulation

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recommendations! Published in 2024 at "Advanced Functional Materials"

DOI: 10.1002/adfm.202418725

Abstract: The flexible manipulation and directional transport of fluids, including droplets and bubbles, are foundational to numerous applications. Fluid manipulation based on external field stimulation and fixed structures has a wide range of applications in both… read more here.

Keywords: spherical robot; robot multiple; janus spherical; manipulation ... See more keywords

Visual positioning system for small-scaled spherical robot in underwater environment

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recommendations! 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

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recommendations! 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

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recommendations! 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

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recommendations! 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

An Online System Identification Algorithm for Spherical Robot Using the Koopman Theory

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recommendations! Published in 2025 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2025.3552997

Abstract: This letter proposes a novel linear online identification framework for the spherical robot to address the modeling difficulties posed by nonlinearity and time-varying characteristics. Firstly, the Koopman theory is applied to the spherical robot to… read more here.

Keywords: system; spherical robot; identification algorithm; identification ... See more keywords

Design and Motion Control of Spherical Robot With Built-In Four-Wheel Omnidirectional Mobile Platform

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recommendations! 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

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recommendations! 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

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recommendations! 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

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recommendations! 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

Holographic-based design, building, and testing of an RRP spherical robot for olive fruits harvesting

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recommendations! Published in 2025 at "Indonesian Journal of Electrical Engineering and Computer Science"

DOI: 10.11591/ijeecs.v38.i3.pp1602-1612

Abstract: A revolute-revolute-prismatic (RRP) spherical robot has been designed, simulated, built, and tested. The robot is intended to perform olive fruit harvesting tasks. The design simulation is done using hologram tools. The design factors considered include… read more here.

Keywords: rrp spherical; spherical robot; robot; holographic based ... See more keywords