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

Tafrishi, Seyed Amir ORCID:, 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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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

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