Mechanical development and control of a miniature nonholonomic spherical rolling robot

Xuelei Niu, Adi P. Suherlan, Gim Song Soh, Shaohui Foong, Kristin Wood, Kevin Otto

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

17 Citations (Scopus)

Abstract

In this paper, a miniature nonholonomic spherical rolling robot capable of navigating over two dimensional surfaces is described. This 55 gram spherical robot consists of a 6 cm diameter external spherical shell driven by an internal two-wheeled differential drive cart. A gravity powered pendulum effect is produced as the internal device climbs up the internal surface of the shell, propelling the robot forward up to a speed of 0.16m/s. We derived its dynamic model using Lagrangian, and studied its dynamics and performance under various applied torques. The spherical robot is built and its overall mechanical, hardware and control architecture are elaborated. Experiments are conducted to evaluate the robot open and closed loop performance on a linear trajectory, captured using an optical motion capture system. We showed that with our implemented PD controller, the robot can follow the desired orientation.

Original languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherIEEE
Pages1923-1928
Number of pages6
ISBN (Print)9781479951994
DOIs
Publication statusPublished - 19 Mar 1997
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Control, Automation, Robotics and Vision - Singapore, Singapore
Duration: 10 Jan 201412 Dec 2014
Conference number: 13

Conference

ConferenceInternational Conference on Control, Automation, Robotics and Vision
Abbreviated titleICARCV
Country/TerritorySingapore
CitySingapore
Period10/01/201412/12/2014

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