Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments

DOI10.1134/S0081543816080095zbMath1367.70017MaRDI QIDQ521548

Yury L. Karavaev, Alexander A. Kilin

Publication date: 11 April 2017

Published in: Proceedings of the Steklov Institute of Mathematics (Search for Journal in Brave)

Mathematics Subject Classification ID

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

Related Items (12)

An inhomogeneous Chaplygin sleigh ⋮ The dynamical model of the rolling friction of spherical bodies on a plane without slipping ⋮ Controlled motion of a spherical robot with feedback. II. ⋮ Dynamics of a spherical robot with variable moments of inertia and a displaced center of mass ⋮ Stability and stabilization of steady rotations of a spherical robot on a vibrating base ⋮ Dynamics-based motion planning for a pendulum-actuated spherical rolling robot ⋮ Integrable nonsmooth nonholonomic dynamics of a rubber wheel with sharp edges ⋮ Dynamics of rubber Chaplygin sphere under periodic control ⋮ Controlled motion of a spherical robot with feedback. I ⋮ Euler elasticas for optimal control of the motion of mobile wheeled robots: the problem of experimental realization ⋮ Stabilization of the motion of a spherical robot using feedbacks ⋮ Qualitative analysis of the nonholonomic rolling of a rubber wheel with sharp edges

Cites Work

• How to control the Chaplygin ball using rotors. II
• Modeling of spherical robots rolling on generic surfaces
• The Jacobi integral in nonholonomic mechanics
• Comments on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev ``How to control the Chaplygin ball using rotors. II
• Experimental investigation of the motion of a body with an axisymmetric base sliding on a rough plane
• The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside
• The dynamics and control of a spherical robot with an internal omniwheel platform
• Dynamics and control of an omniwheel vehicle
• Equations of motion of non-holonomic systems

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