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Nelin. Dinam., 2019, Volume 15, Number 4, Pages 611–622 (Mi nd688)  

Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot

S. A. Tafrishia, Y. Baib, M. Svininb, E. Esmaeilzadehc, M. Yamamotoa

a Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
b College of Information Science and Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan
c Department of Mechanical Engineering, University of Tabriz, Bahman Blvd. 29, Tabriz 51666-14766, Iran

Abstract: In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.

Keywords: inverse dynamics, motion planning, spherical robots, fluid actuator

Funding Agency Grant Number
Japan Science and Technology Agency ERATO 18065977
This research was supported, in part, by the Japan Science and Technology Agency, the JST Strategic International Collaborative Research Program, Project No. 18065977.


DOI: https://doi.org/10.20537/nd190420

Full text: PDF file (733 kB)
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MSC: 70F25, 70E60, 70Q05
Received: 05.06.2019
Accepted:20.11.2019

Citation: S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto, “Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot”, Nelin. Dinam., 15:4 (2019), 611–622

Citation in format AMSBIB
\Bibitem{TafBaiSvi19}
\by S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto
\paper Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot
\jour Nelin. Dinam.
\yr 2019
\vol 15
\issue 4
\pages 611--622
\mathnet{http://mi.mathnet.ru/nd688}
\crossref{https://doi.org/10.20537/nd190420}


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