The article discusses the design and trajectory tracking control of CuRobot, a cubic reversible robot. The robot’s design facilitates uninterrupted omnidirectional movement even when flipped, due to its cubic structure and the incorporation of eight conical wheels. The study also involves the formulation of a kinematic model for CuRobot and the development of a trajectory tracking controller. The robot’s proficiency in omnidirectional mobility and sustained movement post-flipping is tested via simulation and prototype experiments. The innovative design aims to reduce the need for manual intervention and increase the operational robustness of robots in field environments.
Publication date: 29 Nov 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2311.16809
