Inverse dynamics-based motion control of a fluid-actuated rolling robot

Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144, Bai, Y., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Inverse dynamics-based motion control of a fluid-actuated rolling robot. Nelineinaya Dinamika 15 (4) 10.20537/nd190420

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Abstract

In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.

Item Type:	Article
Status:	Published
Schools:	Engineering
ISSN:	2658-5324
Date of First Compliant Deposit:	24 January 2023
Date of Acceptance:	14 June 2018
Last Modified:	03 May 2023 07:22
URI:	https://orca.cardiff.ac.uk/id/eprint/156215

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