Novel Mathematical Modeling and Motion Analysis of a Sphere Considering Slipping
- 10.2991/jrnal.k.190531.006How to use a DOI?
- Angular velocity vector of the sphere; motion analysis of the sphere; slip velocity of the sphere
Many mobile robots that use spherical locomotion employ friction-drive systems because such systems offer omnidirectional locomotion and are more capable of climbing steps than omni-wheel systems. One notable issue associated with friction-drive systems is slipping between the sphere and the roller. However, previously established sphere kinematics models do not consider slipping. This study proposes a mathematical model that allows for slipping and can be broadly applied to a variety of mobile robots in a range of situations.
- © 2019 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Kenji Kimura AU - Kouki Ogata AU - Kazuo Ishii PY - 2019 DA - 2019/06/17 TI - Novel Mathematical Modeling and Motion Analysis of a Sphere Considering Slipping JO - Journal of Robotics, Networking and Artificial Life SP - 27 EP - 32 VL - 6 IS - 1 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.190531.006 DO - 10.2991/jrnal.k.190531.006 ID - Kimura2019 ER -