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RESEARCH PRODUCT
Dynamic Modeling, Energy Analysis, and Path Planning of Spherical Robots on Uneven Terrains
Mohammad PoursinaSahand SabetAli-akbar Agha-mohammadiPaul ReverdyParviz E. Nikraveshsubject
0209 industrial biotechnologyControl and OptimizationComputer science0211 other engineering and technologiesBiomedical EngineeringTerrain02 engineering and technologySpherical shellComputer Science::RoboticsVehicle dynamics020901 industrial engineering & automationArtificial IntelligenceMotion planningSearch and rescueComputingMethodologies_COMPUTERGRAPHICS021106 design practice & managementMechanical EngineeringPropellerControl engineeringEnergy consumptionComputer Science ApplicationsSystem dynamicsHuman-Computer InteractionControl and Systems EngineeringPath (graph theory)RobotComputer Vision and Pattern Recognitiondescription
Spherical robots are generally comprised of a spherical shell and an internal actuation unit. These robots have a variety of applications ranging from search and rescue to agriculture. Although one of the main advantages of spherical robots is their capability to operate on uneven surfaces, energy analysis and path planning of such systems have been studied only for flat terrains. This work introduces a novel approach to evaluate the dynamic equations, energy consumption, and separation analysis of these robots rolling on uneven terrains. The presented dynamics modeling, separation analysis, and energy analysis allow us to implement path planning algorithms to find an optimal path. One of the advantages of this work is that these algorithms can be used when either the analytical or the empirical information about the terrain is available.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2020-10-01 | IEEE Robotics and Automation Letters |