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Proceedings Paper

Design considerations in the development of a spherical mobile robot
Author(s): Tuhin Das; Ranjan Mukherjee; H. Yuksel
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Paper Abstract

The design problems in the development of a spherical mobile robot are discussed in this paper. These problems include dynamics and design of the propulsion mechanism, motion planning and control problems, actuator selection and sensor placement, design and fabrication of the exo-skeleton, and other issues related to power management and computing. Each of the problems are discussed in brief and presented in relation to the spherical mobile robot currently under development at Michigan State University.

Paper Details

Date Published: 20 September 2001
PDF: 11 pages
Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); doi: 10.1117/12.439966
Show Author Affiliations
Tuhin Das, Michigan State Univ. (United States)
Ranjan Mukherjee, Michigan State Univ. (United States)
H. Yuksel, Michigan State Univ. (United States)


Published in SPIE Proceedings Vol. 4364:
Unmanned Ground Vehicle Technology III
Grant R. Gerhart; Chuck M. Shoemaker, Editor(s)

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