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Kinematics of Spherical Robots Rolling over 3D Terrains

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  • Saeed Moazami
  • Hassan Zargarzadeh
  • Srinivas Palanki

Abstract

Although the kinematics and dynamics of spherical robots (SRs) on flat horizontal and inclined 2D surfaces are thoroughly investigated, their rolling behavior on generic 3D terrains has remained unexplored. This paper derives the kinematics equations of the most common SR configurations rolling over 3D surfaces. First, the kinematics equations for a geometrical sphere rolling over a 3D surface are derived along with the characterization of the modeling method. Next, a brief review of current mechanical configurations of SRs is presented as well as a novel classification for SRs based on their kinematics. Then, considering the mechanical constraints of each category, the kinematics equations for each group of SRs are derived. Afterward, a path-tracking method is utilized for a desired 3D trajectory. Finally, simulations are carried out to validate the developed models and the effectiveness of the proposed control scheme.

Suggested Citation

  • Saeed Moazami & Hassan Zargarzadeh & Srinivas Palanki, 2019. "Kinematics of Spherical Robots Rolling over 3D Terrains," Complexity, Hindawi, vol. 2019, pages 1-14, December.
    • Handle: RePEc:hin:complx:7543969
    DOI: 10.1155/2019/7543969
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    References listed on IDEAS

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    1. Majid Taheri Andani & Zahra Ramezani & Saeed Moazami & Jinde Cao & Mohammad Mehdi Arefi & Hassan Zargarzadeh, 2018. "Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot," Complexity, Hindawi, vol. 2018, pages 1-15, October.
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    Cited by:

    1. Obradović, Aleksandar & Mitrović, Zoran & Šalinić, Slaviša, 2022. "On the problem of a heavy homogeneous ball rolling without slipping over a fixed surface of revolution," Applied Mathematics and Computation, Elsevier, vol. 420(C).

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