ARIES: Cylindrical Pendulum Actuated Explorer Sphere

نویسندگان

چکیده

Spherical rolling robots (SRR) have been a promising avenue for the exploration of unstructured environments with variable topologies. The advantages include ability to move fast, robustness collision, and lower number actuators. However, finally be used in real missions applications, they need high maneuverability sufficient inner space house proper payload intended application, such as cave tunnel exploration, without compromising on performances. With barycentric spherical robot, adding mass may become challenging, location center-of-mass is critical locomotion. In this article, we propose novel robot two degrees-of-freedom (DoF) named Autonomous Robotic Intelligent Explorer Spheres (ARIES). motion SRR generated by cylindrical actuated joint acting like 2-DoF pendulum. This design allows us nearly empty upper hemisphere inside shell, which dedicated payloads adapted application. full kinematics dynamics are presented, simulation results included. control scheme implemented detailed. We conducted an experimental evaluation ARIES different trajectories, well discussed practical considerations future improvements.

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ژورنال

عنوان ژورنال: IEEE-ASME Transactions on Mechatronics

سال: 2022

ISSN: ['1941-014X', '1083-4435']

DOI: https://doi.org/10.1109/tmech.2022.3175989