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Russian Journal of Nonlinear Dynamics, 2019, Volume 15, Number 4, Pages 611–622
DOI: https://doi.org/10.20537/nd190420 (Mi nd688) 		 
This article is cited in 4 scientific papers (total in 4 papers)

Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot

S. A. Tafrishia, Y. Baib, M. Svininb, E. Esmaeilzadehc, M. Yamamotoa

a Faculty of Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
b College of Information Science and Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan
c Department of Mechanical Engineering, University of Tabriz, Bahman Blvd. 29, Tabriz 51666-14766, Iran
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DOI: https://doi.org/10.20537/nd190420
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.
Keywords: inverse dynamics, motion planning, spherical robots, fluid actuator.
Funding agency Grant number
Japan Science and Technology Agency ERATO 18065977
This research was supported, in part, by the Japan Science and Technology Agency, the JST Strategic International Collaborative Research Program, Project No. 18065977.
Received: 05.06.2019
Accepted: 20.11.2019
Bibliographic databases:
Document Type: Article
MSC: 70F25, 70E60, 70Q05
Language: English
Citation: S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto, “Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot”, Rus. J. Nonlin. Dyn., 15:4 (2019), 611–622
Citation in format AMSBIB
\Bibitem{TafBaiSvi19}
\by S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto
\paper Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot
\jour Rus. J. Nonlin. Dyn.
\yr 2019
\vol 15
\issue 4
\pages 611--622
\mathnet{http://mi.mathnet.ru/nd688}
\crossref{https://doi.org/10.20537/nd190420}
\elib{https://elibrary.ru/item.asp?id=43736469}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85085143703}
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    • This publication is cited in the following 4 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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    		Russian Journal of Nonlinear Dynamics
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