The paper deals with dynamics and control of a special type of mobile robot designed to act as a small platform to carry sensing devices or actuators in an environment where stability of the platform is critical, like in surveying unstructured hostile industrial environment or exploring other planets, or simply being a part of a human place, like office or home, which has not been designed for ...

This paper addresses the problem of performing navigation with a mobile robot using active vision exploring the image sphere properties in a stereo divergent configuration. The navigational process is supported by the control of the robot’s steering and forward movements j u s t using visual information as feedback. The steering control solution is based o n the diflerence between signals of vi...

This paper describes the structural design of the SUR-II spherical underwater robot. A spherical shape was adopted due to its outstanding shock resistance and flexibility. We designed and developed vectored water-jet thrusters to implement 4-degreesof-freedom (4-DOF) underwater motion while saving energy. Because each thruster provided 2-DOF motion, three were sufficient for 4-DOF motion. There...

This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand that determines the relative position of the robot with respect to a spherical object fixed in the working area of the robot. The positions of the ...

Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of direction trajectory tracking problem. In this study, we propose new controller HTSMC, an instruction planning MPC, framework MHH. The HTSMC designed by integrating fast terminal algorithm, hierarchical method, motion features spherical robot, its dynamics. addition, has excellent control effect w...