Design and motion control of spherical robot with built-in four-wheel omnidirectional mobile platform

• Main Authors: Bu, Suwan, Yan, Liang, Gao, Xiaoshan, Wang, Gang, Zhao, Peiran, Chen, I-Ming
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Article
• 語言: English
• 出版: 2023
• 主題: Engineering::Mechanical engineering; Dynamic Model; Motion Controller
• 在線閱讀: https://hdl.handle.net/10356/170760
• 機構: Nanyang Technological University

The objective of this article is to propose a novel spherical robot with a built-in four-wheel omnidirectional mobile platform. The employment of a four-wheel structure helps to improve the friction coefficient and thus reduce the slipping motion. In addition, it increases the velocity augmentation...