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dc.contributor.authorInal, A.N.en_US
dc.contributor.authorMorgul O.en_US
dc.contributor.authorSaranli, U.en_US
dc.coverage.spatialVilamoura, Portugalen_US
dc.date.accessioned2016-02-08T12:11:52Z
dc.date.available2016-02-08T12:11:52Z
dc.date.issued2012en_US
dc.identifier.issn21530858
dc.identifier.urihttp://hdl.handle.net/11693/28127
dc.description.abstractMobility through balancing on spherical wheels has recently received some attention in the robotics literature. Unlike traditional wheeled platforms, the operation of such platforms depends heavily on understanding and working with system dynamics, which have so far been approximated with simple planar models and their decoupled extension to three dimensions. Unfortunately, such models cannot capture inherently spatial aspects of motion such as yaw motion arising from the wheel rolling motion or coupled inertial effects for fast maneuvers. In this paper, we describe a novel, fully-coupled 3D model for such spherical wheeled platforms and show that it not only captures relevant spatial aspects of motion, but also provides a basis for controllers better informed by system dynamics. We focus our evaluations to simulations with this model and use circular paths to reveal advantages of this model in dynamically rich situations. © 2012 IEEE.en_US
dc.language.isoEnglishen_US
dc.source.titleIEEE International Conference on Intelligent Robots and Systemsen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/IROS.2012.6385689en_US
dc.subject3D modelsen_US
dc.subjectCircular pathsen_US
dc.subjectFully-coupleden_US
dc.subjectInertial effecten_US
dc.subjectPlanar modelen_US
dc.subjectSelf-balancing roboten_US
dc.subjectSpatial aspecten_US
dc.subjectSystem Dynamicsen_US
dc.subjectThree dimensionsen_US
dc.subjectWheel rollingen_US
dc.subjectWheeled platformsen_US
dc.subjectYaw motionsen_US
dc.subjectIntelligent systemsen_US
dc.subjectRoboticsen_US
dc.subjectSpheresen_US
dc.subjectSystem theoryen_US
dc.subjectThree dimensional computer graphicsen_US
dc.subjectWheelsen_US
dc.subjectThree dimensionalen_US
dc.titleA 3D dynamic model of a spherical wheeled self-balancing roboten_US
dc.typeConference Paperen_US
dc.departmentDepartment of Electrical and Electronics Engineering
dc.citation.spage5381en_US
dc.citation.epage5386en_US
dc.identifier.doi10.1109/IROS.2012.6385689en_US


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