A Reconfigurable Spherical Robot
This paper presents a reconfigurable spherical robot. The reconfigurable spherical robot can be reconfigured into a form of two interconnected hemispheres with three legs equipped with three omni-directional wheels. A stable reconfiguration control algorithm is constructed to change the robot from spherical shape to two halves of interconnected hemispheres and three legged-wheeled expansions. This work also constructs a transformation controller for the robot which uses an accelerometer to sense its orientation. The performance analysis shows that our reconfigurable robot prototype can transform from spherical shape (dormant mode) into two interconnected hemispheres where the three leg-wheels are projected out of the shells (transformed mode) and vice versa. After the transformation into the three leg-wheel configuration, the robot can autonomously move in L-shaped and U-shaped areas as well as narrowing pathways.
Noppadol Chadil Marong Phadoongsidhi Kawee Suwannasit Poramate Manoonpong Pudit (Sathaporn) Laksanacharoen
Electrical Engineering Dept,King Mongkuts University of Technology North Bangkok,Bangkok,10800,Tha Computer Engineering Dept,King Mongkuts University of Technology Thonburi,126 Pracha Uthit Road,Ban Mechanical and Aerospace Engineering Dept,King Mongkuts University of Technology North Bangkok,Bang Bernstein Center for Computational Neuroscience(BCCN) University of G(o)ttingen,D-37077 G(o)ttingen,
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2380-2385
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）