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Proceedings Paper

Positioning approach of a spherical rolling robot
Author(s): Liangqing Wang; Hanxu Sun; Qingxuan Jia; Aiping Xiao; Zhonghua Yu; Xiaowei Cao
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Paper Abstract

In comparison to other mobile robots, spherical rolling robots offer greater mobility, stability, and scope for operation in hazardous environments. Spherical rolling robots have been attracting much attention in not only mechanical but also control literature recently, due to both their relevance to practical applications, and to the difficulties in the analysis and control of these robots. The positioning of a spherical rolling robot at an arbitrary pose and at any time is one of the fundamental and difficult problems in the research of spherical rolling robots. Because spherical rolling robot touches the floor at a point, the positioning is difficult, especially when it moves at a high speed. Up to now, this problem has not been solved perfectly. In this paper, we present an efficient positioning approach for a spherical rolling robot. Based on the approach, a moving spherical rolling robot can be positioned at an arbitrary pose and at any time.

Paper Details

Date Published: 24 October 2005
PDF: 6 pages
Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 60061C (24 October 2005); doi: 10.1117/12.629404
Show Author Affiliations
Liangqing Wang, Beijing Univ. of Aeronautics and Astronautics (China)
Hanxu Sun, Beijing Univ. of Posts and Telecommunications (China)
Qingxuan Jia, Beijing Univ. of Posts and Telecommunications (China)
Aiping Xiao, Beijing Univ. of Posts and Telecommunications (China)
Zhonghua Yu, Beijing Univ. of Posts and Telecommunications (China)
Xiaowei Cao, Beijing Univ. of Posts and Telecommunications (China)


Published in SPIE Proceedings Vol. 6006:
Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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