Dynamic Obstacle Overcoming Capability of Pendulum-Driven Ball-Shaped Robots

Tomi J. Ylikorpi, Pekka J. Forsman, and Aarne J. Halme


Ball-shaped robots, robot dynamics, robot kinematics, Euler-Lagrange equation, simulation


This paper discusses dynamic step-crossing capability of pendulum-driven ball-shaped robots. We introduce an extended dynamic model that allows modeling of ball-robot rolling, bouncing and slipping. Based on the new model, our simulations predict the maximum over-passable step-height for the robot. The simulation results agree well with the result from a parallel simulation in Adams-software as well as with practical experiments. The new dynamic model can be applied for mobility analysis of robot-ball designs as well as for path planning.

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