2006 · 55 citations · 9 references
EngineeringMechanical EngineeringRobotics EngineeringMobile RoboticsRobot DynamicsRoboticsMobile Robot ControlMobile Robot LocomotionObstacle AvoidanceRobot Motion PlanningTrajectory DynamicsTrajectory GenerationCircular MotionDynamic Trajectory PlanningExplorationMomentsMotion Planning With Obstacle AvoidanceRobot Equation Of MotionRobot SimulationTrajectory Planning
A spherical mobile robot, BHQ-1, designed for environment exploration, was briefly introduced. The dynamic model of BHQ-1 was established with a simplified Boltzmann-Hamel equation. From the dynamic model the expressions of the input moments of two motors to drive the robot are deduced when the robot moves along straight trajectory and circular trajectory separately. Simulation result of the robot to track a complex trajectory and experiments of the robot to avoid an obstacle show the trajectory planning method is effective.
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Motion control of a spherical mobile robot
Aarne Halme, Torsten Schönberg, Yan Wang · 2002 · 295 citations
Engineering, Mechanical Engineering, Robotics Engineering +15
François Michaud, S. Caron · Autonomous Robots · 2002 · 163 citations
Engineering, Mechanical Engineering, Robotics Engineering +8