Effects of LED on Emotion-Like Feedback of a Single-Eyed Spherical Robot

2021 ◽  
Vol 24 (3) ◽  
pp. 115-124
Author(s):  
Eiji Onchi ◽  
Natanya Cornet ◽  
SeungHee Lee
Keyword(s):  
Spherical Robot

Design and Optimization of the Thruster Pipes of a Submarine Spherical Robot

ROBOT ◽  
2013 ◽  
Vol 35 (1) ◽  
pp. 115
Author(s):  
Hao PAN ◽  
Hanxu SUN ◽  
Qingxuan JIA ◽  
Peng LI
Keyword(s):  
Spherical Robot ◽  
Design And Optimization

scholarly journals Improved hybrid A* path planning method for spherical mobile robot based on pendulum

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199295
Author(s):  
Ziang Zhang ◽  
Yixu Wan ◽  
You Wang ◽  
Xiaoqing Guan ◽  
Wei Ren ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Common Ground ◽  
Kinematic Model ◽  
Point Contact ◽  
Shell Shape ◽  
Spherical Robot ◽  
Trajectory Tracking Control ◽  
Novel Method ◽  
Turning Radius ◽  
Spherical Mobile Robot

This article proposes a modification of hybrid A* method used for navigation of spherical mobile robots with the ability of limited partial lateral movement driven by pendulum. For pendulum-driven spherical robots with nonzero minimal turning radius, our modification helps to find a feasible and achievable path, which can be followed in line with the low time cost. Because of spherical shell shape, the robot is point contact with the ground, showing different kinematic model compared with common ground mobile robots such as differential robot and wheeled car-like robot. Therefore, this article analyzes the kinematic model of spherical robot and proposes a novel method to generate feasible and achievable paths conforming to kinematic constraints, which can be the initial value of future trajectory tracking control and further optimization. A concept of optimal robot’s minimum area for rotation is also proposed to improve search efficiency and ensure the ability of turning to any orientation by moving forward and backward in a finite number of times within limited areas.

scholarly journals Geometric tracking control for a nonholonomic system: a spherical robot

2016 ◽  
Vol 49 (18) ◽  
pp. 820-825 ◽  
Author(s):  
Sneha Gajbhiye ◽  
Ravi N. Banavar
Keyword(s):  
Tracking Control ◽  
Nonholonomic System ◽  
Spherical Robot ◽  
System A
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