24 October 2005 Kinematics analysis on a spherical robot
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Spherical robot, rolling by altering its barycenter with the inside actuating device, has a spherical or spheroid housing, the motivity of which is supplied by the friction force between the housing and the ground while it rolling. Particular attention is paid to the research of spherical robot in recent years. This paper presents a new omnidirectional bi-driver spherical robot droved by two motors that directly drive the balancer to rotate about two orthogonal axes. The spherical robot is a nonholonomic system with 3 DOF while it rolls on the ground, so the spherical presented in this paper is a nonholonomic under-actuated system, featuring omnidirectional movement, simple configuration, and so on.
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Ai-ping Xiao, Han-xu Sun, Yue-sheng Tan, Liang-qing Wang, "Kinematics analysis on a spherical robot", Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 60061D (24 October 2005); doi: 10.1117/12.629411; https://doi.org/10.1117/12.629411

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