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Development and Control of a Real Spherical Robot.

Karla Schröder1, Gonzalo Garcia1, Roberto Chacón1

  • 1Escuela de Ingeniería Eléctrica, Pontificia Universidad Católica de Valparaíso, Av. Brasil 2147, Valparaíso 2362804, Chile.

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|April 28, 2023
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Summary
This summary is machine-generated.

Researchers developed an improved spherical robot using a pendulum mechanism and upgraded electronics. This enhanced robot successfully tested advanced control algorithms on a dedicated platform.

Keywords:
electronic circuitposition controlspherical robot

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechatronics

Background:

  • Previous spherical robot prototype required enhancements for improved performance.
  • Existing simulation models (CoppeliaSim) needed to be compatible with updated hardware.
  • Development of a dedicated test platform was necessary for real-world validation.

Purpose of the Study:

  • To design and implement an upgraded spherical robot with an internal pendulum mechanism.
  • To integrate the robot with a custom test platform and develop necessary control software.
  • To validate the effectiveness of advanced control algorithms on the new spherical robot.

Main Methods:

  • Redesigning a spherical robot prototype with an internal pendulum and electronics upgrade.
  • Utilizing CoppeliaSim for simulation model compatibility with minimal modifications.
  • Developing software for position/orientation detection (SwisTrack) and motion control.
  • Implementing and testing control algorithms including Integral Proportional Controller and Reinforcement Learning.

Main Results:

  • Successful implementation of the upgraded spherical robot on a dedicated test platform.
  • Demonstrated capability of the robot to be controlled for position and speed.
  • Validation of previously developed control algorithms (Villela, Integral Proportional Controller, Reinforcement Learning) on the new hardware.

Conclusions:

  • The upgraded spherical robot design is effective and compatible with existing simulation tools.
  • The integrated system allows for successful testing and validation of advanced robotic control strategies.
  • This work provides a robust platform for future research in spherical robot control and autonomous navigation.