6 accepted papers
Accurate dynamic modeling of soft-shelled spherical robots is challenging due to coupled rigid–soft body interactions and pressure-dependent contact behavior. This letter presents a modeling strategy for an empirically tuned pendulum-driven inflatable spherical robot. The approach combines a rigid-b…
Exploration of extraterrestrial surfaces, such as the lunar surface, can prove treacherous for humans and robots alike, and requires highly specialized mobility platforms to ensure the success of a mission and the safety of any operators. However, these specialized machines may limit the overall sco…
Spherical robots rolling on flat ground often exhibit a wobbling motion that, at higher speeds, can escalate into end-over-end flipping. This paper proposes a fundamental dynamic cause of this instability: a relaxation effect analogous to the Intermediate Axis Theorem. Rotating bodies with oblate in…
Executing banked turns at elevated speeds poses significant dynamic challenges for 2-DOF pendulum-driven spherical robots. A steady-state torque balance reveals that centripetal loading at high speeds limits feasible roll angles and demands increasingly aggressive pendulum actuation. We derive a clo…
The Robotic Space Simulator was developed as a physical simulation for in-space manipulation tasks. It incorporates external inputs to its dynamics simulation via force/torque sensors mounted to the 2 6-DoF Stewart platforms which compose its primary structure. Each platform is augmented with an add
Exploration robots are typically equipped with either wheels or legs for mobility. However, these conventional designs inherently possess certain limitations, such as restricted ability to navigate through steep slopes, soft soil or muddy watery terrain. Despite the advancements in robotics technolo…