This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called ”RollRoller”. Robot’s mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling parts to correspond movements. Our robot gets its motivation force by displacing the spherical movable mass known as core in curvy manners inside certain pipe...

Article history: Received 1 December 2011 Received in revised form 13 April 2013 Accepted 16 April 2013 Available online 20 May 2013 We designed and implemented a novel omnidirectional spherical robot. Instead of using wheels or flywheels, a driven ball is installed inside the spherical shell and driven by two orthogonally-mounted rollers; thus, the omnidirectional mobility of the robot with no...

In this paper, we present locomotion control strategies for a novel multi-legged spherical hopping robot named ”Robotic All-Terrain Surveyor” (RATS). The conceptual robot has a spherical body roughly the size of a soccer ball, with 12 legs equally distributed over its surface. While the 12legged spherical version of the robot is still on its design phase, we have experimented with a planar prot...

There are many advantages to the use of spherical robot designs. The current status of the design of spherical rolling robots is reviewed.

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

Based on dynamical modeling, robust trajectory tracking control of a spherical mobile robot is proposed. The spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representation of the system is developed using dyn...

A process for realizing sub-cubic millimeter microrobots is detailed. To date, the process has been used to produce spherical structures ranging from 0.5 mm to 3.0 mm in diameter. A model of a 0.7 mm diameter spherical robot has been developed and an estimated power budget is provided. In addition, a model of the electrostatic actuators that will be used for the robot is covered. This model has...

This paper uses the kinematic mapping into the image space of spherical displacements to design a cooperating spherical robot system for workpiece orientating. The kinematic chain formed b y the cooperating robots grasping the workpiece forms a multi degree of freedom closed chain which is also known as a robotic mechanism. The spherical robots considered are spherical RPR open chains and they ...

Kickbot is a custom built autonomous robot which wanders in its environment searching for people who will kick it. Kickbot’s novel spherical body and solid construction make it ideal for kicking, and its carefully counterweighted central disk helps stabilize the robot after tumbling. Kickbot has a two part distributed control system which uses various sensors to avoid obstacles, detect when it ...

This paper describes a robot with a spherical joint that imitates the shoulder joint of humans. The robot with a spherical joint is developed considering structural features of a human’s shoulder joint. The spherical joint has three degrees of freedom: abduction or adduction, flexion or extension and internal rotation or external rotation. Furthermore, this robot is actuated by a group of pneum...