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DOI:10.23919/ICCAS50221.2020.9268200 - Corpus ID: 227277322
@article{Ba2020KinematicMO, title={Kinematic Modeling of Spherical Rolling Robots with a Three-Omnidirectional-Wheel Drive Mechanism}, author={Pham Dinh Ba and Quoc Dong Hoang and Soon‐Geul Lee and Thanh Hai Nguyen and Xuan Quang Duong and Boi Chau Tham}, journal={2020 20th International Conference on Control, Automation and Systems (ICCAS)}, year={2020}, pages={463-466}, url={https://api.semanticscholar.org/CorpusID:227277322}}- Pham Dinh Ba, Quoc Dong Hoang, B. C. Tham
- Published in International Conference on… 13 October 2020
- Engineering
Results indicate that the robot can track the desired trajectory and maintain its balance stably at the same time and derive the kinematic model of the SRR via nonholonomic constraints.
5 Citations
1
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Topics
Spherical Rolling Robot (opens in a new tab)Nonholonomic Constraints (opens in a new tab)Mobile Robots (opens in a new tab)Kinematic Modeling (opens in a new tab)Underactuated Systems (opens in a new tab)Trajectory (opens in a new tab)
5 Citations
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This article presents the design of an amphibious spherical robot with a sole focus on its mechanical design to achieve high torque, versatile motion modes, compact and lightweight structure, and…
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The spherical shape is an interesting approach to develop exploration robots, or rovers, thanks to its capability of ensuring omnidirectional motion and of being basically unsensitive to possible…
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Fig. 1. SRR Omnicron [10].
Published in International Conference on Control, Automation and Systems 2020
Kinematic Modeling of Spherical Rolling Robots with a Three-Omnidirectional-Wheel Drive Mechanism
Pham Dinh BaQuoc Dong HoangSoon‐Geul LeeThanh Hai NguyenXuan Quang DuongB. C. Tham
Figure 1 of 5
