Y. Karavaev, A. Kilin, A. Klekovkin, E. Pivovarova
{"title":"在振动下垫面上滚动的球形机器人的稳定","authors":"Y. Karavaev, A. Kilin, A. Klekovkin, E. Pivovarova","doi":"10.1109/NIR50484.2020.9290225","DOIUrl":null,"url":null,"abstract":"This paper is devoted to investigations of a spherical robot rolling on an oscillating underlying surface. The model of spherical robot of combined type is considered. Based on analysis of equations of motion taking into account the oscillation of the underlying surface, a control algorithm for stabilization of the spherical robot is proposed. The influences of oscillations in horizontal and vertical directions are evaluated. The design of the spherical robot and its control system for fabrication of a prototype are described.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Stabilization of a spherical robot rolling on an oscillating underlying surface\",\"authors\":\"Y. Karavaev, A. Kilin, A. Klekovkin, E. Pivovarova\",\"doi\":\"10.1109/NIR50484.2020.9290225\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper is devoted to investigations of a spherical robot rolling on an oscillating underlying surface. The model of spherical robot of combined type is considered. Based on analysis of equations of motion taking into account the oscillation of the underlying surface, a control algorithm for stabilization of the spherical robot is proposed. The influences of oscillations in horizontal and vertical directions are evaluated. The design of the spherical robot and its control system for fabrication of a prototype are described.\",\"PeriodicalId\":274976,\"journal\":{\"name\":\"2020 International Conference Nonlinearity, Information and Robotics (NIR)\",\"volume\":\"16 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-12-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 International Conference Nonlinearity, Information and Robotics (NIR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/NIR50484.2020.9290225\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/NIR50484.2020.9290225","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Stabilization of a spherical robot rolling on an oscillating underlying surface
This paper is devoted to investigations of a spherical robot rolling on an oscillating underlying surface. The model of spherical robot of combined type is considered. Based on analysis of equations of motion taking into account the oscillation of the underlying surface, a control algorithm for stabilization of the spherical robot is proposed. The influences of oscillations in horizontal and vertical directions are evaluated. The design of the spherical robot and its control system for fabrication of a prototype are described.
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