LUNA-A Laser-Mapping Unidirectional Navigation Actuator

Jasper Zevering, A. Bredenbeck, Fabian Arzberger, Dorit Borrmann, Andreas Nüchter

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

3 Citations (Scopus)


This paper proposes an autonomous approach to 3D mapping using the concept of impulse by conservation of angular momentum (IBCOAM) as a unidirectional drive to roll a 2D laser scanner in an IMU equipped, pose-tracked spherical robot system. An experimental prototype of the robot is introduced, giving details about the hardware. The laser scanning results as well as the IBCOAM drive data that have been gathered using the prototype are analyzed, revealing technical challenges.
Original languageEnglish
Title of host publicationInternational Symposium on Experimental Robotics
Number of pages10
Publication statusPublished - 2020
Externally publishedYes

Publication series

NameSpringer Proceedings in Advanced Robotics
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


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