Volume 6, Issue 1, June 2019, Pages 27 - 32
Novel Mathematical Modeling and Motion Analysis of a Sphere Considering Slipping
Authors
Kenji Kimura1, *, Kouki Ogata2, Kazuo Ishii1
1Graduate School of Life Science and Engineering, Kyusyu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Fukuoka, Japan
2Department of Physics, Faculty of Science and Engineering, Saga University, 1 Honjo, Saga, Saga 840-8421, Japan
*Corresponding author. Email: kimura_kenji@edu.brain.kyutech.ac.jp
Corresponding Author
Kenji Kimura
Received 20 November 2017, Accepted 20 December 2017, Available Online 17 June 2019.
- DOI
- 10.2991/jrnal.k.190531.006How to use a DOI?
- Keywords
- Angular velocity vector of the sphere; motion analysis of the sphere; slip velocity of the sphere
- Abstract
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.
- Copyright
- © 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/).
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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 -