Authors
Kenji Kimura1, *, Kouki Ogata2, Kazuo Ishii1
1Graduate School of Life Science and Engineering, Kyusyu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Fukuoka, Japan
2Department of Physics, Faculty of Science and Engineering, Saga University, 1 Honjo, Saga, Saga 840-8421, Japan
*Corresponding author. Email: [email protected]
Corresponding Author
Kenji Kimura
Received 20 November 2017, Accepted 20 December 2017, Available Online 17 June 2019.
DOI
https://doi.org/10.2991/jrnal.k.190531.006How to use a DOI?
Keywords
Angular velocity vector of the sphere; motion analysis of the sphere; slip velocity of the sphere
Abstract
Many mobile robots that use spherical locomotion employ friction-drive systems because such systems offer omnidirectional locomotion and are more capable of climbing steps than omni-wheel systems. One notable issue associated with friction-drive systems is slipping between the sphere and the roller. However, previously established sphere kinematics models do not consider slipping. This study proposes a mathematical model that allows for slipping and can be broadly applied to a variety of mobile robots in a range of situations.
Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd..
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).