OS21-3 Slip Model of Ball Driven by Two Rollers

Title:	OS21-3 Slip Model of Ball Driven by Two Rollers
Publication:	ICAROB2018
Volume:	23
Pages:	753-756
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2018.OS21-3
Author(s):	Kenji Kimura, Shota Chikushi, Kazuo Ishii
Publication Date:	February 2, 2018
Keywords:	Spherical wheel motion, the ball dribbling mechanism, slip ratio
Abstract:	Spherical wheel motion driven by rollers attract attention due to the possibility of uneven surface. RoboCup is a platform designed to promote the research fields such as Artificial Intelligent (AI) and robotics, and one of examples is the ball dribbling mechanism of RoboCup Middle size league robot, and this mechanism controls the ball with two driving rollers. As the result of the survey at the 2017 World Cup, all teams in the world have determined the roller arrangement heuristically, and no mathematical consideration has been made. In this study, we propose a model considering slip, discuss the relationship between slip ratio and robot speed using evaluation function, and verify the model by experiment.
PDF File:	https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS21/OS21-3.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/