Dynamics-based motion planning for a pendulum-actuated spherical rolling robot

DOI10.1134/S1560354718040020zbMath1411.70021OpenAlexW2887881823MaRDI QIDQ1739520

Yang Bai, Motoji Yamamoto, Mikhail Svinin

Publication date: 26 April 2019

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1134/s1560354718040020

zbMATH Keywords

rollingmotion planningspherical robot

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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Cites Work

• Spherical robot of combined type: dynamics and control
• On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
• How to control the Chaplygin ball using rotors. II
• Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments
• How to control Chaplygin's sphere using rotors
• On the control of a robot ball using two omniwheels
• The dynamics and control of a spherical robot with an internal omniwheel platform
• Rolling bodies with regular surface: controllability theory and applications
• Geometric phases and robotic locomotion
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