Introducing Glory: A Novel Strategy for an Omnidirectional Spherical Rolling Robot

[+] Author and Article Information
Amir Homayoun Javadi A.

Azad University of Qazvin, Electronics and Computer Engineering Department, Irane-mail: javadi@anoise.com

Puyan Mojabi

Iran University of Science and Technology, Electrical and Computer Engineering Department, Iran e-mail: mojabi@anoise.com

J. Dyn. Sys., Meas., Control 126(3), 678-683 (Dec 03, 2004) (6 pages) doi:10.1115/1.1789542 History: Received December 03, 2003; Online December 03, 2004
Copyright © 2004 by ASME
Topics: Robots
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Inner propulsion system showing whole the system
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Comparison of spherical robots
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A closeup of a spoke containing a stepper motor, a cylindrical screw, and a weight
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A sphere rolling on a plane; Oi(0,0,0),O(x,y,0),Oc(x,y,−r) (where r is the radius of the spherical shell)
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Angular velocity and time diagram of robot motion, from beginning to destination
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Experience discussed in Sec. 6 1
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Experience discussed in Sec. 6 2
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The tetrahedral configuration: The spokes are shown as OA, OB, OC, and OD




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