Design and Modelling of Omnibola^©, A Spherical Mobile Robot

REFERENCES

• Alves , J. , Dias , J. ( 2003 ). Design and control of a spherical mobile robot. In: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering 217(6):457–467 .
   Google Scholar
• Armour , R. H. , Vincent , J. F. ( 2006 ). Rolling in nature and robotics: A review . Journal of Bionic Engineering 3 : 195 – 208 . (ScienceDirect)
   Google Scholar
• Bhattacharya , S. , Agrawal , S. K. ( 2000 ). Spherical rolling robot: A design and motion planning studies . IEEE transactions on Robotics and Automation 16 ( 6 ): 835 – 839 .
   Google Scholar
• Bicchi , A. , Balluchi , A. , Prattichizzo , D. , Gorelli , A. ( 1997 ). Introducing the “Sphericle”: An experimental testbed for research and teaching in nonholonomy. In: Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, USA, Vol. 3, pp. 2620–2625 .
   Google Scholar
• Brown , H. B. , Jr., Xu , Y. ( 1997 ). A single-wheel, gyroscopically stabilized robot . IEEE Robotics and Automation Magazine 4 : 39 – 44 .
   Web of Science ®Google Scholar
• Ceccarelli , M. ( 2004 ). Fundamentals of Mechanics of Robotic Manipulation . Dordrecht , Netherlands : Kluwer .
   Google Scholar
• Ganji , F. , Velinsky , S. A. ( 2011 ). Optimal actuation for an omnidirectional mobile platform with three ball wheels . Mechanics Based Design of Structures and Machines: An International Journal 39 ( 1 ): 1 – 21 .
   Web of Science ®Google Scholar
• Gheorghe , V. , Udrea , C. , Alexndrescu , N. , Duminica , D. ( 2008 ). Design of a rolling robot with telescopic legs, able to displace itself on irregular surfaces . The Romanian Review Precision Mechanics, Optics & Mechatronics 18 ( 34 ): 139 – 144 .
   Google Scholar
• Halme , A. H. , Suomela , J. , Schönberg , T. , Wang , Y. ( 1996 ). A spherical mobile micro-robot for scientific applications. Proceeding of the 4th ESA Workshop on Advanced Space Technologies for Robot Applications, Noordwijk, The Netherlands .
   Google Scholar
• Joshi , V. A. , Banavar , R. N. , Hippalgaonkar , R. (2010). Design and analysis of a spherical mobile robot. Mechanism and Machine Theory 45:835–839.
   Web of Science ®Google Scholar
• Kim , J. , Kwon , H. Lee , J. ( 2009 ). A rolling robot: Design and implementation. In: Proceedings of the 7th Asian Control Conf., Hong Kong, China, pp. 1474–1479 .
   Google Scholar
• Laplante , J. , Masson , P. , Michaud , F. ( 2007 ). Analytical longitudinal and lateral models of a spherical rolling robot. Technical Report, Department of Electrical Engineering and Computer Engineering, Universite de Shebroke, Canada .
   Google Scholar
• Michaud , F. , Caron , S. ( 2002 ). Roball, the rolling robot . Autonomous Robots 12 ( 2 ): 211 – 222 .
   Web of Science ®Google Scholar
• Mukherjee , R. , Minor , M. A. , Pukrushpan , J. T. ( 1999 ). Simple motion planning strategies for spherobot: A spherical mobile robot. Proceedings of the 38th Conference on Decision & Control, Phoenix, Arizona .
   Google Scholar
• Shu , G. , Zhan , Q. , Cai , Y. ( 2009 ). Motion control of spherical robot based on conservation of angular momentum. In: Proceedings of the IEEE International Conference on Mechatronics and Automation, Changchun, China, pp. 599–604 .
   Google Scholar
• Siegwart , R. , Nourbakhsh , I. R. ( 2004 ). Introduction to Autonomous Mobile Robots . Cambridge , MA : The MIT press .
   Google Scholar
• Tang , Q. , Eberhard , P. ( 2011 ). Cooperative motion of swarm mobile robots based on particle swarm optimization and multibody system dynamics . Mechanics Based Design of Structures and Machines: An International Journal 39 ( 2 ): 179 – 193 .
   Web of Science ®Google Scholar
• Ylikorpi , T. , Suomela , J. ( 2007 ). Ball-shaped robots . In: H. Zhang. ed. Climbing & Walking Robots, Towards New Applications . Vienna , Austria : Itech , pp. 235 – 256 .
   Google Scholar
• #Communicated by M. Ceccarelli and V. Mata.
   Google Scholar