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Published March 21, 2017 | public
Book Section - Chapter

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

Abstract

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.

Additional Information

© 2017 Springer International Publishing AG. First Online: 21 March 2017.

Additional details

Created:
August 22, 2023
Modified:
January 13, 2024