Different models of rolling for a robot ball on a plane as a generalization of the Chaplygin ball problem

DOI10.1134/S1560354719050071zbMath1437.37078MaRDI QIDQ2305014

Alexey V. Borisov, Ivan. A. Bizyaev, Ivan. S. Mamaev

Publication date: 10 March 2020

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

zbMATH Keywords

stabilitylimit cyclestrange attractornonholonomic mechanicsChaplygin ballbalanced beaver-ballrolling without slipping and spinningstraight-line motion

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50) Stability problems for finite-dimensional Hamiltonian and Lagrangian systems (37J25) Nonholonomic dynamical systems (37J60)

Related Items

A geometric motion planning for a spin-rolling sphere on a plane, Spherical Robots: An Up-to-Date Overview of Designs and Features, Motion Control of a Spherical Robot with a Pendulum Actuator for Pursuing a Target, The Integrable Problem of the Rolling Motion of a Dynamically Symmetric Spherical Top with One Nonholonomic Constraint, Two nonholonomic chaotic systems. II: On the rolling of a nonholonomic bundle of two bodies, Dynamics of the Chaplygin Ball with Variable Parameters, Dynamics of a spherical robot with variable moments of inertia and a displaced center of mass, Dynamics of rubber Chaplygin sphere under periodic control, On the Chaplygin sphere in a magnetic field, Dynamics of the Chaplygin sphere with additional constraint

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