A spherical hopping robot for exploration in complex environments

Bing Li; Qiang Deng; Zhichao Liu

doi:10.1109/ROBIO.2009.5420680

A spherical hopping robot for exploration in complex environments

Bing Li^*
, Qiang Deng
, Zhichao Liu

^*Corresponding author for this work

School of Robotics and Advanced Manufacture

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

40 Scopus citations

Abstract

Spherical robot can move efficiently on flat ground and the hopping robot can leap the obstacles over several times of its own size. In this paper, a spherical hopping robot which combines the spherical robot and hopping robot is proposed. It can roll freely in the plane, if there are barriers it can jump at the desired angle and in the desired direction after self-adjusting. Also it can jump repeatedly and stabilize itself. The design scheme for spherical hopping robot is presented. The way to achieve the function of rolling and hopping is carefully investigated by analysis of the mechanism. Details of the hopping drive mechanism are also given. Mathematical model is established for implementing both rolling and hopping process. The simulation results validate the design scheme.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	402-407
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420680
State	Published - 2009
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 19 Dec 2009 → 23 Dec 2009

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	19/12/09 → 23/12/09

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10.1109/ROBIO.2009.5420680

Cite this

@inproceedings{03c0977f94af4753987ca7dc76b4bce2,

title = "A spherical hopping robot for exploration in complex environments",

abstract = "Spherical robot can move efficiently on flat ground and the hopping robot can leap the obstacles over several times of its own size. In this paper, a spherical hopping robot which combines the spherical robot and hopping robot is proposed. It can roll freely in the plane, if there are barriers it can jump at the desired angle and in the desired direction after self-adjusting. Also it can jump repeatedly and stabilize itself. The design scheme for spherical hopping robot is presented. The way to achieve the function of rolling and hopping is carefully investigated by analysis of the mechanism. Details of the hopping drive mechanism are also given. Mathematical model is established for implementing both rolling and hopping process. The simulation results validate the design scheme.",

author = "Bing Li and Qiang Deng and Zhichao Liu",

year = "2009",

doi = "10.1109/ROBIO.2009.5420680",

language = "英语",

isbn = "9781424447756",

series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

pages = "402--407",

booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",

}

Li, B, Deng, Q & Liu, Z 2009, A spherical hopping robot for exploration in complex environments. in 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009., 5420680, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 402-407, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 19/12/09. https://doi.org/10.1109/ROBIO.2009.5420680

A spherical hopping robot for exploration in complex environments. / Li, Bing; Deng, Qiang; Liu, Zhichao.
2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 402-407 5420680 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - A spherical hopping robot for exploration in complex environments

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AU - Deng, Qiang

AU - Liu, Zhichao

PY - 2009

Y1 - 2009

N2 - Spherical robot can move efficiently on flat ground and the hopping robot can leap the obstacles over several times of its own size. In this paper, a spherical hopping robot which combines the spherical robot and hopping robot is proposed. It can roll freely in the plane, if there are barriers it can jump at the desired angle and in the desired direction after self-adjusting. Also it can jump repeatedly and stabilize itself. The design scheme for spherical hopping robot is presented. The way to achieve the function of rolling and hopping is carefully investigated by analysis of the mechanism. Details of the hopping drive mechanism are also given. Mathematical model is established for implementing both rolling and hopping process. The simulation results validate the design scheme.

AB - Spherical robot can move efficiently on flat ground and the hopping robot can leap the obstacles over several times of its own size. In this paper, a spherical hopping robot which combines the spherical robot and hopping robot is proposed. It can roll freely in the plane, if there are barriers it can jump at the desired angle and in the desired direction after self-adjusting. Also it can jump repeatedly and stabilize itself. The design scheme for spherical hopping robot is presented. The way to achieve the function of rolling and hopping is carefully investigated by analysis of the mechanism. Details of the hopping drive mechanism are also given. Mathematical model is established for implementing both rolling and hopping process. The simulation results validate the design scheme.

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DO - 10.1109/ROBIO.2009.5420680

M3 - 会议稿件

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SN - 9781424447756

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T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Y2 - 19 December 2009 through 23 December 2009

ER -

A spherical hopping robot for exploration in complex environments

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