ICRA 2011 Paper Abstract


Paper TuP212.2

Chadil, Noppadol (King Mongkut's University of Technology North Bangkok), Phadoognsidhi, Marong (King Mongkut's University of Technology North Bangkok), Suwannasit, Kawee (King Mongkut's University of Technology North Bangkok), Manoonpong, Poramate (University of Goettingen), Laksanacharoen, Pudit (Sathaporn) (King Mongkut's Institute of Technology North Bangkok)

A Reconfigurable Spherical Robot

Scheduled for presentation during the Regular Sessions "Field and Underwater Robotics II" (TuP212), Tuesday, May 10, 2011, 15:40−15:55, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Biologically-Inspired Robots, Field Robots, Robotics in Hazardous Fields


This paper presents a reconfigurable spherical robot. The reconfigurable spherical robot can be reconfigured into a form of two interconnected hemispheres with three legs equipped with three omni-directional wheels. A stable reconfiguration control algorithm is constructed to change the robot from spherical shape to two halves of interconnected hemispheres and three legged-wheeled expansions. This work also constructs a transformation controller for the robot which uses an accelerometer to sense its orientation. The performance analysis shows that the prototype of the reconfigurable spherical robot can transform from spherical shape (dormant mode) into two inter-connected hemispheres where the three leg-wheels are projected out of the shells (transformed mode) and vice versa. After its transform into three leg-wheels configuration, the robot can traverse across L-shape, U-shape and narrowing path autonomously using long distance sensors.



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