Inverse dynamics-based motion control of a fluid-actuated rolling robot

S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto

Research output: Contribution to journalArticle

Abstract

In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.

Original languageEnglish
Pages (from-to)611-622
Number of pages12
JournalRussian Journal of Nonlinear Dynamics
Volume15
Issue number4
DOIs
Publication statusPublished - Jan 1 2019

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering

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