Velocity Control of a Cylindrical Rolling Robot by Surface-Morphing
A mathematical model is developed for a rolling robot with a cylindrically-shaped, elliptical outer surface that has the ability to alter its shape as it rolls, resulting in a torque imbalance that accelerates or decelerates the robot. A control scheme is implemented, whereby angular position and angular velocity are used as feedback to trigger and define morphing actuation. The goal of the control is to direct the robot to follow a given angular velocity profile. Equations of motion for the rolling robot are formulated and solved numerically. Results show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to start from rest, achieve constant average velocity and slow itself in order to follow a desired velocity profile with significant accuracy.
M. G. Puopolo and J. D. Jacob, "Velocity Control of a Cylindrical Rolling Robot by Surface-Morphing," Proceedings of the ASME 2015 Dynamic Systems and Control Conference (2015, Columbus, OH), vol. 1, American Society of Mechanical Engineers (ASME), Oct 2015.
The definitive version is available at https://doi.org/10.1115/DSCC2015-9783
ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 (2015: Oct. 28-30, Columbus, OH)
Mechanical and Aerospace Engineering
Keywords and Phrases
Adaptive control systems; Aerospace applications; Angular velocity; Automobile engines; Battery management systems; Electric machine control; Electric power system control; Engines; Equations of motion; Hybrid vehicles; Intelligent robots; Intelligent systems; Internal combustion engines; Robots; Velocity; Wind power, Angular positions; Average velocity; Control schemes; Morphing; Outer surface; Rolling robots; Velocity profiles, Robotics
International Standard Book Number (ISBN)
Article - Conference proceedings
© 2015 American Society of Mechanical Engineers (ASME), All rights reserved.