Analysis on the jumping of a spherical rolling robot

Hanxu Sun; Liangqing Wang; Qingxuan Jia

doi:10.1117/12.684573

2 October 2006 Analysis on the jumping of a spherical rolling robot

Hanxu Sun, Liangqing Wang, Qingxuan Jia

Proceedings Volume 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision; 63840T (2006) https://doi.org/10.1117/12.684573
Event: Optics East 2006, 2006, Boston, Massachusetts, United States

Abstract

The movement of a spherical rolling robot before jumping is analyzed by use of phase plane on the basis of kinematics and dynamics and the jumping condition is gotten. The dynamic model of the spherical rolling robot after jumping is developed through the D'Alembet principle. The model is simulated and an experiment is completed. The simulation and the experiment have demonstrated the feasibility and validity of the theoretical analysis for the spherical rolling robot both in climbing and jumping.

Citation Download Citation

Hanxu Sun, Liangqing Wang, and Qingxuan Jia "Analysis on the jumping of a spherical rolling robot", Proc. SPIE 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision, 63840T (2 October 2006); https://doi.org/10.1117/12.684573

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