SPIROS：6プロペラと噛み合いローターを備えた全方向球体ロボットの設計・モデリング・制御
Design, Modelling and Control of SPIROS: The Six Propellers and Intermeshing Rotors Based Omnidirectional Spherical Robot
6つの空気推進ローターを八面体配置した球体ロボットSPIROSを提案し、段差回避や急斜面登坂を可能にするとともに、動的モデルと純追従アルゴリズムによる経路追従制御を構築してシミュレーションで検証した論文。
著者: Yogesh Phalak
分類: cs.RO
原文アブストラクト
Since the past few decades, several designs and control methods have been developed for the Spherical Robots (SRs) with thoroughly analyzed mechanics on generalized 3D terrains. But the vertical motion and the steep inclination maneuver has been an unsolved problem with the existing SR's driving mechanisms. Also, the possibilities of wind-powered or air-propelled SRs have not been fully explored. This paper introduces the new Omnidirectional Spherical Robot mechanism named SPIROS: The Six Propeller and Intermeshed Rotor based Omnidirectional Spherical Robot. The SPIROS is driven by a novel octahedral arrangement of six intermeshed rotary air thrusters placed in the Goldberg Polyhedral shaped spherical gridshell. The advantage of the proposed design lies in its air-powered propulsion, which improves on the obstacle avoidance and the slope climbing abilities. The robot's dynamic models are derived using the existing kinematical models of the Continuous Rolling Spherical Robots (CR-SR), with subcategories, triple axes rolling (3R-SR), dual axes rolling (2R-SR) and rolling and turning (RT-SR) spherical robots. The path tracking control scheme based on the pure pursuit algorithm is presented. Simulations are carried out in MATLAB and Simulink to validate the developed models and the effectiveness of the proposed control schemes.
