On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors

DOI10.1134/S1560354713010097zbMath1272.70049OpenAlexW1996148864MaRDI QIDQ358453

Motoji Yamamoto, Akihiro Morinaga, Mikhail Svinin

Publication date: 8 August 2013

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

Full work available at URL: https://doi.org/10.1134/s1560354713010097

zbMATH Keywords

dynamicsmotion planningnon-holonomic systemsrolling constraints

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Robot dynamics and control of rigid bodies (70E60) Control/observation systems governed by ordinary differential equations (93C15) Dynamics of multibody systems (70E55) Motion of a rigid body in contact with a solid surface (70E18)

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