Effects of the slope on the motion of spherical RollRoller robot

Seyed Amir Tafrishi, Mikhail Svinin, Esmaeil Esmaeilzadeh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, the effect of the slope on the locomotion of a spherical mobile robot named RollRoller is investigated under simulation. We analyze the robot motion up to 30 degrees of the slope inclination. The analysis is conducted for different conditions depending on the torque input and algorithmic motion planning. Oak fiber is chosen as the material of the inclined surface material, and the spherical shell of the robot is made of plastic. It is shown that RollRoller can move in different physical manners. As the velocity of the driving mass (the core) increases, certain series of jumping impulses take place because of predominant angular momentum. This pattern can support the motion of the sphere with accelerating climb in vertical axis. However, algorithmic-base position control of the RollRoller can prevent certain circular jumping impulses.

Original languageEnglish
Title of host publicationSII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages875-880
Number of pages6
ISBN (Electronic)9781509033294
DOIs
Publication statusPublished - Feb 6 2017
Event2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan
Duration: Dec 13 2016Dec 15 2016

Publication series

NameSII 2016 - 2016 IEEE/SICE International Symposium on System Integration

Other

Other2016 IEEE/SICE International Symposium on System Integration, SII 2016
CountryJapan
CitySapporo
Period12/13/1612/15/16

Fingerprint

Impulse
Slope
Robot
Robots
Spherical Shell
Position Control
Motion
Angular momentum
Motion Planning
Locomotion
Position control
Inclination
Inclined
Motion planning
Angular Momentum
Mobile Robot
Mobile robots
Torque
Plastics
Vertical

All Science Journal Classification (ASJC) codes

  • Biomedical Engineering
  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Optimization

Cite this

Tafrishi, S. A., Svinin, M., & Esmaeilzadeh, E. (2017). Effects of the slope on the motion of spherical RollRoller robot. In SII 2016 - 2016 IEEE/SICE International Symposium on System Integration (pp. 875-880). [7844110] (SII 2016 - 2016 IEEE/SICE International Symposium on System Integration). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2016.7844110

Effects of the slope on the motion of spherical RollRoller robot. / Tafrishi, Seyed Amir; Svinin, Mikhail; Esmaeilzadeh, Esmaeil.

SII 2016 - 2016 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc., 2017. p. 875-880 7844110 (SII 2016 - 2016 IEEE/SICE International Symposium on System Integration).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tafrishi, SA, Svinin, M & Esmaeilzadeh, E 2017, Effects of the slope on the motion of spherical RollRoller robot. in SII 2016 - 2016 IEEE/SICE International Symposium on System Integration., 7844110, SII 2016 - 2016 IEEE/SICE International Symposium on System Integration, Institute of Electrical and Electronics Engineers Inc., pp. 875-880, 2016 IEEE/SICE International Symposium on System Integration, SII 2016, Sapporo, Japan, 12/13/16. https://doi.org/10.1109/SII.2016.7844110
Tafrishi SA, Svinin M, Esmaeilzadeh E. Effects of the slope on the motion of spherical RollRoller robot. In SII 2016 - 2016 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc. 2017. p. 875-880. 7844110. (SII 2016 - 2016 IEEE/SICE International Symposium on System Integration). https://doi.org/10.1109/SII.2016.7844110
Tafrishi, Seyed Amir ; Svinin, Mikhail ; Esmaeilzadeh, Esmaeil. / Effects of the slope on the motion of spherical RollRoller robot. SII 2016 - 2016 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 875-880 (SII 2016 - 2016 IEEE/SICE International Symposium on System Integration).
@inproceedings{96bd279d559f4230994fb5e32eecf4c4,
title = "Effects of the slope on the motion of spherical RollRoller robot",
abstract = "In this paper, the effect of the slope on the locomotion of a spherical mobile robot named RollRoller is investigated under simulation. We analyze the robot motion up to 30 degrees of the slope inclination. The analysis is conducted for different conditions depending on the torque input and algorithmic motion planning. Oak fiber is chosen as the material of the inclined surface material, and the spherical shell of the robot is made of plastic. It is shown that RollRoller can move in different physical manners. As the velocity of the driving mass (the core) increases, certain series of jumping impulses take place because of predominant angular momentum. This pattern can support the motion of the sphere with accelerating climb in vertical axis. However, algorithmic-base position control of the RollRoller can prevent certain circular jumping impulses.",
author = "Tafrishi, {Seyed Amir} and Mikhail Svinin and Esmaeil Esmaeilzadeh",
year = "2017",
month = "2",
day = "6",
doi = "10.1109/SII.2016.7844110",
language = "English",
series = "SII 2016 - 2016 IEEE/SICE International Symposium on System Integration",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "875--880",
booktitle = "SII 2016 - 2016 IEEE/SICE International Symposium on System Integration",
address = "United States",

}

TY - GEN

T1 - Effects of the slope on the motion of spherical RollRoller robot

AU - Tafrishi, Seyed Amir

AU - Svinin, Mikhail

AU - Esmaeilzadeh, Esmaeil

PY - 2017/2/6

Y1 - 2017/2/6

N2 - In this paper, the effect of the slope on the locomotion of a spherical mobile robot named RollRoller is investigated under simulation. We analyze the robot motion up to 30 degrees of the slope inclination. The analysis is conducted for different conditions depending on the torque input and algorithmic motion planning. Oak fiber is chosen as the material of the inclined surface material, and the spherical shell of the robot is made of plastic. It is shown that RollRoller can move in different physical manners. As the velocity of the driving mass (the core) increases, certain series of jumping impulses take place because of predominant angular momentum. This pattern can support the motion of the sphere with accelerating climb in vertical axis. However, algorithmic-base position control of the RollRoller can prevent certain circular jumping impulses.

AB - In this paper, the effect of the slope on the locomotion of a spherical mobile robot named RollRoller is investigated under simulation. We analyze the robot motion up to 30 degrees of the slope inclination. The analysis is conducted for different conditions depending on the torque input and algorithmic motion planning. Oak fiber is chosen as the material of the inclined surface material, and the spherical shell of the robot is made of plastic. It is shown that RollRoller can move in different physical manners. As the velocity of the driving mass (the core) increases, certain series of jumping impulses take place because of predominant angular momentum. This pattern can support the motion of the sphere with accelerating climb in vertical axis. However, algorithmic-base position control of the RollRoller can prevent certain circular jumping impulses.

UR - http://www.scopus.com/inward/record.url?scp=85015378078&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85015378078&partnerID=8YFLogxK

U2 - 10.1109/SII.2016.7844110

DO - 10.1109/SII.2016.7844110

M3 - Conference contribution

AN - SCOPUS:85015378078

T3 - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration

SP - 875

EP - 880

BT - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration

PB - Institute of Electrical and Electronics Engineers Inc.

ER -