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Awakening Strategies from a Sleeping Mode to a Balancing Mode for a Sphere Robot

Sang Deok Lee and Seul Jung*
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2840-2847, 2017

Abstract : "This paper presents the strategy of awakening a sphere robot from a sleep mode to a balancing mode. The sphere robot is designed on the basis of a single-wheel robot covered with two hemispheres to have the sphere shape with casters to maintain the sleep mode at a specific angle. The sleep angle has been empirically found to be 16 degrees for enabling the sphere robot to be upright position. The gyroscopic force is controlled to perform the awakening strategy of the robot system. Firstly, the key design features such as angular momentum, agility, and controllable bandwidth are investigated to identify three phases such as triggering, stumbling, and stabilizing for the awakening strategy. Secondly, the sphere robot is modeled as an inverted stick and the phase portrait of the model is analyzed. Thirdly, a control law with a compensation algorithm is proposed to enhance the stabilizing performance. Finally, the proposed awakening strategy is verified through experimental studies."

Keyword : Awakening strategy, one-wheel mobile robot, self-balancing, sphere robot.

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