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Effects of the slope on the motion of spherical RollRoller robot

Tafrishi, Seyed Amir ORCID:, Svinin, Mikhail and Esmaeilzadeh, Esmaeil 2017. Effects of the slope on the motion of spherical RollRoller robot. Presented at: 2016 IEEE/SICE International Symposium on System Integration (SII), Sapporo, Japan, 13-15 December 2016. 2016 IEEE/SICE International Symposium on System Integration (SII). IEEE, 10.1109/SII.2016.7844110

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In this paper, the effect of the slope on the locomotion of a spherical mobile robot named RollRoller is investigated under simulation. We analyze the robot motion up to 30 degrees of the slope inclination. The analysis is conducted for different conditions depending on the torque input and algorithmic motion planning. Oak fiber is chosen as the material of the inclined surface material, and the spherical shell of the robot is made of plastic. It is shown that RollRoller can move in different physical manners. As the velocity of the driving mass (the core) increases, certain series of jumping impulses take place because of predominant angular momentum. This pattern can support the motion of the sphere with accelerating climb in vertical axis. However, algorithmic-base position control of the RollRoller can prevent certain circular jumping impulses.

Item Type: Conference or Workshop Item (Paper)
Date Type: Published Online
Status: Published
Schools: Engineering
Computer Science & Informatics
Publisher: IEEE
ISBN: 978-1-5090-3329-4
Date of First Compliant Deposit: 4 February 2023
Date of Acceptance: 29 September 2015
Last Modified: 10 Feb 2023 14:30

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