Research on the Climbing and Jumping of a Spherical Rolling Robot

doi:10.13190/jbupt.200702.11.109

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2007, Vol. 30 ›› Issue (2): 11-14.doi: 10.13190/jbupt.200702.11.109

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Research on the Climbing and Jumping of a Spherical Rolling Robot

WANG Liang-qing 1, SUN Han-xu 2, JIA Qing-xuan 2

(1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
2. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876,China)

Received:2006-05-17 Revised:1900-01-01 Online:2007-04-30 Published:2007-04-30
Contact: WANG Liang-qing

Abstract

Abstract:

The problem of a spherical rolling robot’s climbing capability is analyzed and the related climbing experiment is introduced. A method of phase plane is used to investigate the movement of the spherical rolling robot before jumping and its jumping condition is developed. The dynamic model of the spherical rolling robot after jumping is derived using the D’Alembet principle. Simulation and the experiment have demonstrated good feasibility and validity of the theoretical analysis for the spherical rolling robot both in climbing and jumping.

Key words: spherical rolling robot, climbing, jumping

CLC Number:

TP242.3

WANG Liang-qing 1, SUN Han-xu 2, JIA Qing-xuan 2. Research on the Climbing and Jumping of a Spherical Rolling Robot[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2007, 30(2): 11-14.

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[2]	YE Ru-yi, SHU Hua-ying. Semi-jumping the Queue for IP QoS [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2002, 25(2): 18-22.

Research on the Climbing and Jumping of a Spherical Rolling Robot

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