TY - GEN
T1 - Control of Spherical Robots on Uneven Terrains
AU - Sabet, Sahand
AU - Poursina, Mohammad
AU - Nikravesh, Parviz E.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Hybrid robots incorporate the advantages of both aerial-only and terrestrial-only vehicles to achieve enhanced mobility and better energy efficiency. Among hybrid vehicles, spherical robots offer the best maneuverability. While operating on uneven surfaces is one of the main benefits of spherical robots, the current literature only covers control of these robots on flat surfaces. This work presents two control algorithms to track a desired trajectory and angular velocity of spherical robots on uneven terrains. The proposed control algorithms can be used when the terrain is known analytically or empirically (i.e., point cloud). By allowing the controller to use empirical information about the terrain profile, this work broadens the implementation of spherical robots in real applications.
AB - Hybrid robots incorporate the advantages of both aerial-only and terrestrial-only vehicles to achieve enhanced mobility and better energy efficiency. Among hybrid vehicles, spherical robots offer the best maneuverability. While operating on uneven surfaces is one of the main benefits of spherical robots, the current literature only covers control of these robots on flat surfaces. This work presents two control algorithms to track a desired trajectory and angular velocity of spherical robots on uneven terrains. The proposed control algorithms can be used when the terrain is known analytically or empirically (i.e., point cloud). By allowing the controller to use empirical information about the terrain profile, this work broadens the implementation of spherical robots in real applications.
UR - http://www.scopus.com/inward/record.url?scp=85124340788&partnerID=8YFLogxK
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U2 - 10.1109/IROS51168.2021.9636543
DO - 10.1109/IROS51168.2021.9636543
M3 - Conference contribution
AN - SCOPUS:85124340788
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 8159
EP - 8165
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -