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Design and implementation of a novel hybrid quadruped spherical mobile robot

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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
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Header DbId: egs
DbLabel: Engineering Source
An: 84574296
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
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  Data: Design and implementation of a novel hybrid quadruped spherical mobile robot
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  Data: <searchLink fieldCode="AR" term="%22Mahboubi%2C+S%2E%22">Mahboubi, S.</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Fakhrabadi%2C+M%2EM%2ES%2E%22">Fakhrabadi, M.M.S.</searchLink><relatesTo>2</relatesTo><i> msfakhrabadi@gmail.com</i><br /><searchLink fieldCode="AR" term="%22Ghanbari%2C+A%2E%22">Ghanbari, A.</searchLink><relatesTo>1</relatesTo>
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  Data: <searchLink fieldCode="JN" term="%22Robotics+%26+Autonomous+Systems%22">Robotics & Autonomous Systems</searchLink>. Feb2013, Vol. 61 Issue 2, p184-194. 11p.
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  Data: <searchLink fieldCode="DE" term="%22Mobile+robot+design+%26+construction%22">Mobile robot design & construction</searchLink><br /><searchLink fieldCode="DE" term="%22Quadrupedalism%22">Quadrupedalism</searchLink><br /><searchLink fieldCode="DE" term="%22Spherical+motion%22">Spherical motion</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+dynamics%22">Robot dynamics</searchLink><br /><searchLink fieldCode="DE" term="%22Lagrange+equations%22">Lagrange equations</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink><br /><searchLink fieldCode="DE" term="%22Tracking+control+systems%22">Tracking control systems</searchLink>
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  Data: 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]
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  Group: Ab
  Data: <i>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.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=84574296
RecordInfo BibRecord:
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      – Type: doi
        Value: 10.1016/j.robot.2012.09.026
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      – Code: eng
        Text: English
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        PageCount: 11
        StartPage: 184
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      – SubjectFull: Mobile robot design & construction
        Type: general
      – SubjectFull: Quadrupedalism
        Type: general
      – SubjectFull: Spherical motion
        Type: general
      – SubjectFull: Robot dynamics
        Type: general
      – SubjectFull: Lagrange equations
        Type: general
      – SubjectFull: Robotic trajectory control
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      – SubjectFull: Tracking control systems
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      – TitleFull: Design and implementation of a novel hybrid quadruped spherical mobile robot
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            NameFull: Fakhrabadi, M.M.S.
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              M: 02
              Text: Feb2013
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              Y: 2013
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