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Combined Energy Harvesting and Control of Moball: A Barycentric Spherical Robot

Bowkett, Joseph and Burkhardt, Matt and Burdick, Joel W. (2017) Combined Energy Harvesting and Control of Moball: A Barycentric Spherical Robot. In: 2016 International Symposium on Experimental Robotics. Springer Proceedings in Advanced Robotics. No.1. Springer , Cham, Switzerland, pp. 71-83. ISBN 978-3-319-50115-4.

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The mobile sensor platform Moball uses an array of sliding magnets and solenoids inside a spherical shell to both harvest energy and displace its center of mass or barycenter from its center of rotation in order to control the path along which it rolls. Previous simulations of the harvesting potential for the complete system are validated experimentally, and certain phenomena that restrict effective operating conditions for energy harvesting are investigated. Tracking of characteristic trajectories for a single mass control element is used to assess the performance of the solenoids as actuators, and the ability of the system to generate a control torque during motion is demonstrated.

Item Type:Book Section
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Additional Information:© 2017 Springer International Publishing AG. First Online: 21 March 2017.
Subject Keywords:Barycentric spherical robot; Moball Sliding mass; Solenoid actuator; Energy harvesting; Linear position control
Series Name:Springer Proceedings in Advanced Robotics
Issue or Number:1
Record Number:CaltechAUTHORS:20170711-104535650
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:78942
Deposited By: Tony Diaz
Deposited On:11 Jul 2017 21:15
Last Modified:15 Nov 2021 17:44

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