Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot

    2019, Vol. 15, no. 4, pp.  611-622

    Author(s): Tafrishi S. A., Bai Y., Svinin M., Esmaeilzadeh E., Yamamoto M.

    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.
    Keywords: inverse dynamics, motion planning, spherical robots, fluid actuator
    Citation: Tafrishi S. A., Bai Y., Svinin M., Esmaeilzadeh E., Yamamoto M., Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot, Rus. J. Nonlin. Dyn., 2019, Vol. 15, no. 4, pp.  611-622

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