Modeling of spherical robots rolling on generic surfaces

DOI10.1007/s11044-014-9438-3zbMath1335.70028OpenAlexW2067418688MaRDI QIDQ497838

François Robert Hogan, James Richard Forbes

Publication date: 25 September 2015

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-014-9438-3

zbMATH Keywords

Euler parametersnonholonomic constraintsspherical robotstumbleweed rover

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Motion of a rigid body in contact with a solid surface (70E18)

Related Items (5)

Kinematics of spherical robots rolling over 3D terrains ⋮ Spherical Robots: An Up-to-Date Overview of Designs and Features ⋮ Stability and stabilization of steady rotations of a spherical robot on a vibrating base ⋮ Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments ⋮ On the problem of a heavy homogeneous ball rolling without slipping over a fixed surface of revolution

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• Dynamics modelling of hexaslides using the decoupled natural orthogonal complement matrices
• Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement
• A sphere rolling on the inside surface of a cone

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