The movement of a spherical rolling robot before jumping is analyzed by use of phase plane on the basis of kinematics and dynamics and the jumping condition is gotten. The dynamic model of the spherical rolling robot after jumping is developed through the D'Alembet principle. The model is simulated and an experiment is completed. The simulation and the experiment have demonstrated the feasibility and validity of the theoretical analysis for the spherical rolling robot both in climbing and jumping.
In comparison to other mobile robots, spherical rolling robots offer greater mobility, stability, and scope for operation in hazardous environments. Spherical rolling robots have been attracting much attention in not only mechanical but also control literature recently, due to both their relevance to practical applications, and to the difficulties in the analysis and control of these robots. The positioning of a spherical rolling robot at an arbitrary pose and at any time is one of the fundamental and difficult problems in the research of spherical rolling robots. Because spherical rolling robot touches the floor at a point, the positioning is difficult, especially when it moves at a high speed. Up to now, this problem has not been solved perfectly. In this paper, we present an efficient positioning approach for a spherical rolling robot. Based on the approach, a moving spherical rolling robot can be positioned at an arbitrary pose and at any time.
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.