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Motion Planning of a Spherical Mobile Robot

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Motion and Operation Planning of Robotic Systems

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 29))

Abstract

As a new member of mobile robot family, spherical mobile robot (shortly spherical robot) is well-known for its compact structure and agile motion, but its special motion principle and nonholonomic characteristic complicate its motion planning. This chapter first overviews the previous research work of the motion planning of spherical robot, and then introduces the structure and motion principle of spherical robot BHQ-1, and last presents one kinematic motion planning method and one dynamic motion planning method for BHQ-1 respectively. Compared with other motion planning methods of spherical robot, those two methods realize the motion planning of a spherical robot in 3D space and focus more on practical applications.

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Authors and Affiliations

  1. Laboratory of Complex Mechanism and Intelligent Control (CMIC), Robotics Institute, Beijing University of Aeronautics and Astronautics, No. 37, Xueyuan Road, Beijing, Haidian District, China

    Qiang Zhan

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  1. Qiang Zhan
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Correspondence to Qiang Zhan .

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Editors and Affiliations

  1. University of Cassino, Cassino, Frosinone, Italy

    Giuseppe Carbone

  2. Engineering School, University of Huelva, La Rábida, Huelva, Spain

    Fernando Gomez-Bravo

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Zhan, Q. (2015). Motion Planning of a Spherical Mobile Robot. In: Carbone, G., Gomez-Bravo, F. (eds) Motion and Operation Planning of Robotic Systems. Mechanisms and Machine Science, vol 29. Springer, Cham. https://doi.org/10.1007/978-3-319-14705-5_12

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  • DOI: https://doi.org/10.1007/978-3-319-14705-5_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-14704-8

  • Online ISBN: 978-3-319-14705-5

  • eBook Packages: EngineeringEngineering (R0)

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