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Proceedings Paper

Analysis on the jumping of a spherical rolling robot
Author(s): Hanxu Sun; Liangqing Wang; Qingxuan Jia
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Paper Abstract

The movement of a spherical rolling robot before jumping is analyzed by use of phase plane on the basis of kinematics and dynamics and the jumping condition is gotten. The dynamic model of the spherical rolling robot after jumping is developed through the D'Alembet principle. The model is simulated and an experiment is completed. The simulation and the experiment have demonstrated the feasibility and validity of the theoretical analysis for the spherical rolling robot both in climbing and jumping.

Paper Details

Date Published: 2 October 2006
PDF: 7 pages
Proc. SPIE 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision, 63840T (2 October 2006); doi: 10.1117/12.684573
Show Author Affiliations
Hanxu Sun, Beijing Univ. of Posts and Telecommunications (China)
Liangqing Wang, Beijing Univ. of Aeronautics and Astronautics (China)
Qingxuan Jia, Beijing Univ. of Posts and Telecommunications (China)


Published in SPIE Proceedings Vol. 6384:
Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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