DYNAMIC OBSTACLE OVERCOMING CAPABILITY OF PENDULUM-DRIVEN BALL-SHAPED ROBOTS

摘要

This paper discusses dynamic step-crossing capability of pendulum-driven ball-shaped robots. We introduce an extended dynamic model that allows modeling of ball-robot rolling, bouncing and slipping. Based on the new model, our simulations predict the maximum over-passable step-height for the robot. The simulation results agree well with the result from a parallel simulation in Adams-software as well as with practical experiments. The new dynamic model can be applied for mobility analysis of robot-ball designs as well as for path planning.