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

• المؤلفون الرئيسيون: Bu, Suwan, Yan, Liang, Gao, Xiaoshan, Wang, Gang, Zhao, Peiran, Chen, I-Ming
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2023
• الموضوعات: Engineering::Mechanical engineering; Dynamic Model; Motion Controller
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/170760

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...