Design considerations in the development of a spherical mobile robot

Tuhin Das; Ranjan Mukherjee; H. Yuksel

doi:10.1117/12.439966

20 September 2001 Design considerations in the development of a spherical mobile robot

Tuhin Das, Ranjan Mukherjee, H. Yuksel

Proceedings Volume 4364, Unmanned Ground Vehicle Technology III; (2001) https://doi.org/10.1117/12.439966
Event: Aerospace/Defense Sensing, Simulation, and Controls, 2001, Orlando, FL, United States

Abstract

The design problems in the development of a spherical mobile robot are discussed in this paper. These problems include dynamics and design of the propulsion mechanism, motion planning and control problems, actuator selection and sensor placement, design and fabrication of the exo-skeleton, and other issues related to power management and computing. Each of the problems are discussed in brief and presented in relation to the spherical mobile robot currently under development at Michigan State University.

Citation Download Citation

Tuhin Das, Ranjan Mukherjee, and H. Yuksel "Design considerations in the development of a spherical mobile robot", Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); https://doi.org/10.1117/12.439966

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available