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
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Mechanical engineering; Dynamic Model; Motion Controller
• Online Access: https://hdl.handle.net/10356/170760
• Institution: 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...