Inverse dynamics-based motion control of a fluid-actuated rolling robot

S. A. Tafrishi; Y. Bai; Mikhail Mikhailovich Svinin; E. Esmaeilzadeh; M. Yamamoto

doi:10.20537/ND190420

Inverse dynamics-based motion control of a fluid-actuated rolling robot

S. A. Tafrishi, Y. Bai, Mikhail Mikhailovich Svinin, E. Esmaeilzadeh, M. Yamamoto

Control Systems

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.

Original language	English
Pages (from-to)	611-622
Number of pages	12
Journal	Russian Journal of Nonlinear Dynamics
Volume	15
Issue number	4
DOIs	https://doi.org/10.20537/ND190420
Publication status	Published - 2019

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Mechanical Engineering

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10.20537/ND190420

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abstract = "In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.",

author = "Tafrishi, {S. A.} and Y. Bai and Svinin, {Mikhail Mikhailovich} and E. Esmaeilzadeh and M. Yamamoto",

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AU - Bai, Y.

AU - Svinin, Mikhail Mikhailovich

AU - Esmaeilzadeh, E.

AU - Yamamoto, M.

N1 - Funding Information: This research was supported, in part, by the Japan Science and Technology Agency, the JST Strategic International Collaborative Research Program, Project No. 18065977. Publisher Copyright: © 2019 Institute of Computer Science Izhevsk. All rights reserved.

PY - 2019

Y1 - 2019

N2 - In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.

AB - In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.

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Inverse dynamics-based motion control of a fluid-actuated rolling robot

Abstract

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