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Motion Planning and Control for Pendulum-Driven Spherical Rolling Robots

机译:行动型球形滚动机器人的运动规划与控制

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Study on spherical rolling robots attracts researchers due to its characteristic that non-holonomic constraints are used not only for manipulation but also for locomation. The recently appeared designs for rolling robots are seeking for simplicity and efficiency. The designs are mainly based on two principles: change of moment of inertia or mass distribution, or both, such as the pendulum-driven system where both change of moment of inertia and mass distribution contribute to the control of motion of spherical shell. It should be noted that rolling robots are difficult to control, especially the pendulum-driven type since it is not only a non-holonomic but also an under-actuated system because the pendulum has only two degrees of freedom. This problem of controlling sphere driven by pendulum remains to be solved. Motion planning strategies have been proposed[4] for rotor-driven rolling robots. However a suitable and workable motion planning method for pendulum-driven rolling robot has not been developed yet.
机译:球形滚动机器人的研究由于其特征来吸引研究人员,即不合实的限制不仅用于操纵,而且用于局部。最近出现的滚动机器人的设计正在寻求简单和效率。该设计主要基于两个原则:惯性矩或质量分布的时刻或两者,如摆动系统,其中惯性矩和质量分布的变化有助于球形壳的运动。应该注意的是,滚动机器人难以控制,尤其是摆动类型,因为它不仅是非实体性的,而且是由于摆锤仅具有两度的自由度。这种控制由摆动驱动的球体的问题仍然待解决。已经提出了运动规划策略[4]用于转子驱动的滚动机器人。然而,尚未开发出摆动滚动机器人的合适和可行的运动规划方法。

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