Research on the Climbing and Jumping of a Spherical Rolling Robot

摘要

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.The feasibility of the theoretical analysis for the spherical rolling robot is verified by the results of simulation and experiment.