View in EDS

Design and implementation of a novel hybrid quadruped spherical mobile robot

Saved in:
Bibliographic Details
Title: Design and implementation of a novel hybrid quadruped spherical mobile robot
Authors: Mahboubi, S.1, Fakhrabadi, M.M.S.2 msfakhrabadi@gmail.com, Ghanbari, A.1
Source: Robotics & Autonomous Systems. Feb2013, Vol. 61 Issue 2, p184-194. 11p.
Subjects: Mobile robot design & construction, Quadrupedalism, Spherical motion, Robot dynamics, Lagrange equations, Robotic trajectory control, Tracking control systems
Abstract: Abstract: Spherical mobile robots are a novel type of mobile robots having some advantages in motion over other ordinary mobile robots. The advantages can be related to their symmetric spherical shape. Despite many works being conducted in recent years on spherical mobile robots, it seems that finding the best driving mechanism with higher efficiency still needs much research. In this article, a novel type of spherical mobile robot is introduced. This robot has a hybrid structure of the spherical robots and ordinary four legged or quadruped robots. Adding legs to the spherical robot reduces some disadvantages of its behavior. After introduction of the mentioned robot, its dynamic model based on Lagrange equations is obtained. The accuracy of the developed dynamic model in tracking a trajectory is verified through a dynamic simulation. Experimental results in tracking a square trajectory is presented to show the verification. [Copyright &y& Elsevier]
Copyright of Robotics & Autonomous Systems is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
Description
Abstract:Abstract: Spherical mobile robots are a novel type of mobile robots having some advantages in motion over other ordinary mobile robots. The advantages can be related to their symmetric spherical shape. Despite many works being conducted in recent years on spherical mobile robots, it seems that finding the best driving mechanism with higher efficiency still needs much research. In this article, a novel type of spherical mobile robot is introduced. This robot has a hybrid structure of the spherical robots and ordinary four legged or quadruped robots. Adding legs to the spherical robot reduces some disadvantages of its behavior. After introduction of the mentioned robot, its dynamic model based on Lagrange equations is obtained. The accuracy of the developed dynamic model in tracking a trajectory is verified through a dynamic simulation. Experimental results in tracking a square trajectory is presented to show the verification. [Copyright &y& Elsevier]
ISSN:09218890
DOI:10.1016/j.robot.2012.09.026