| Title: | GS8-2 Spherical Mobile Robot Driven by Biorthogonal Omnidirectional Wheels |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 174-177 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.GS8-2 |
| Author(s): | Liu Wei, Ma Shuanglong, Duan Lunqin, Yu Jiangtao |
| Publication Date: | February 2, 2018 |
| Keywords: | Spherical mobile robot, Omnidirectional wheel, Biorthogonal position, Eccentric gravitational moment |
| Abstract: | This paper presents a new spherical mobile robot with two independent driving omnidirectional wheels locating at the ends of the inside vertical diameter of the sphere shell, and the two wheel axes being in orthogonal position. The omnidirectional wheels can roll along the inner surface of the spherical shell, and then drive the spherical shell rolling. The lower omnidirectional wheel is responsible for walking drive, and the upper one for steering drive. The prototype shows the spherical robot moving well. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/GS_pdf/GS8/GS8-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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