A reconfigurable spherical robot

Conference proceedings article

Authors/Editors

MARONG PHADOONGSIDHI

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Publication Details

Author list: Chadil N., Phadoongsidhi M., Suwannasit K., Manoonpong P., Laksanacharoen P.

Publication year: 2011

Start page: 2380

End page: 2385

Number of pages: 6

ISBN: 9781612843865

ISSN: 1050-4729

eISSN: 1050-4729

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-84871675595&doi=10.1109%2fICRA.2011.5979756&partnerID=40&md5=19def03c8330014a9a6ba201e10b0e74

Languages: English-Great Britain (EN-GB)

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Abstract

This paper presents a reconfigurable spherical robot. The reconfigurable spherical robot can be reconfigured into a form of two interconnected hemispheres with three legs equipped with three omni-directional wheels. A stable reconfiguration control algorithm is constructed to change the robot from spherical shape to two halves of interconnected hemispheres and three legged-wheeled expansions. This work also constructs a transformation controller for the robot which uses an accelerometer to sense its orientation. The performance analysis shows that our reconfigurable robot prototype can transform from spherical shape (dormant mode) into two interconnected hemispheres where the three leg-wheels are projected out of the shells (transformed mode) and vice versa. After the transformation into the three leg-wheel configuration, the robot can autonomously move in L-shaped and U-shaped areas as well as narrowing pathways. ฉ 2011 IEEE.

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