Introducing HIT spherical robot: Dynamic modeling and analysis based on decoupled subsystem

Yue Ming; Deng Zongquan; Yu Xinyi; Yu Weizhen

doi:10.1109/ROBIO.2006.340355

Introducing HIT spherical robot: Dynamic modeling and analysis based on decoupled subsystem

Yue Ming^*
, Deng Zongquan
, Yu Xinyi
, Yu Weizhen

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

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

55 Scopus citations

Abstract

HIT Spherical Robot has been designed on the principle of carrying out the turning and driving motions independently in order to reduce dynamic complexity and realize real-time detection. After introducing the decoupling principle implemented in the working processing, we derive the dynamic equations about the two fundamental motions, i.e., rolling and turning. Hardware and software of the open-loop control system are introduced briefly and, in the following, experiments show that the robot can fulfill common exploration applying the proposed decoupling method.

Original language	English
Title of host publication	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages	181-186
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2006.340355
State	Published - 2006
Event	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China Duration: 17 Dec 2006 → 20 Dec 2006

Publication series

Name	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Conference

Conference	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Country/Territory	China
City	Kunming
Period	17/12/06 → 20/12/06

Keywords

Decoupling principle
Open-loop
Spherical robot

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10.1109/ROBIO.2006.340355

Cite this

Ming, Y., Zongquan, D., Xinyi, Y., & Weizhen, Y. (2006). Introducing HIT spherical robot: Dynamic modeling and analysis based on decoupled subsystem. In 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 (pp. 181-186). Article 4141861 (2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006). https://doi.org/10.1109/ROBIO.2006.340355

@inproceedings{b7e833d54f69431e8def4541aa5a8749,

title = "Introducing HIT spherical robot: Dynamic modeling and analysis based on decoupled subsystem",

abstract = "HIT Spherical Robot has been designed on the principle of carrying out the turning and driving motions independently in order to reduce dynamic complexity and realize real-time detection. After introducing the decoupling principle implemented in the working processing, we derive the dynamic equations about the two fundamental motions, i.e., rolling and turning. Hardware and software of the open-loop control system are introduced briefly and, in the following, experiments show that the robot can fulfill common exploration applying the proposed decoupling method.",

keywords = "Decoupling principle, Open-loop, Spherical robot",

author = "Yue Ming and Deng Zongquan and Yu Xinyi and Yu Weizhen",

year = "2006",

doi = "10.1109/ROBIO.2006.340355",

language = "英语",

isbn = "1424405718",

series = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

pages = "181--186",

booktitle = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

note = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 ; Conference date: 17-12-2006 Through 20-12-2006",

}

Ming, Y, Zongquan, D, Xinyi, Y & Weizhen, Y 2006, Introducing HIT spherical robot: Dynamic modeling and analysis based on decoupled subsystem. in 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006., 4141861, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, pp. 181-186, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 17/12/06. https://doi.org/10.1109/ROBIO.2006.340355

Introducing HIT spherical robot: Dynamic modeling and analysis based on decoupled subsystem. / Ming, Yue; Zongquan, Deng; Xinyi, Yu et al.
2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. 2006. p. 181-186 4141861 (2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006).

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

TY - GEN

T1 - Introducing HIT spherical robot

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AU - Ming, Yue

AU - Zongquan, Deng

AU - Xinyi, Yu

AU - Weizhen, Yu

PY - 2006

Y1 - 2006

N2 - HIT Spherical Robot has been designed on the principle of carrying out the turning and driving motions independently in order to reduce dynamic complexity and realize real-time detection. After introducing the decoupling principle implemented in the working processing, we derive the dynamic equations about the two fundamental motions, i.e., rolling and turning. Hardware and software of the open-loop control system are introduced briefly and, in the following, experiments show that the robot can fulfill common exploration applying the proposed decoupling method.

AB - HIT Spherical Robot has been designed on the principle of carrying out the turning and driving motions independently in order to reduce dynamic complexity and realize real-time detection. After introducing the decoupling principle implemented in the working processing, we derive the dynamic equations about the two fundamental motions, i.e., rolling and turning. Hardware and software of the open-loop control system are introduced briefly and, in the following, experiments show that the robot can fulfill common exploration applying the proposed decoupling method.

KW - Decoupling principle

KW - Open-loop

KW - Spherical robot

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DO - 10.1109/ROBIO.2006.340355

M3 - 会议稿件

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SN - 1424405718

SN - 9781424405718

T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

SP - 181

EP - 186

BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Y2 - 17 December 2006 through 20 December 2006

ER -

Introducing HIT spherical robot: Dynamic modeling and analysis based on decoupled subsystem

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Publication series

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Keywords

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