Explorations of the holonomy of a rolling sphere

DOI10.1098/RSPA.2023.0684MaRDI QIDQ6999361zbMATH OpenFDO

Authors Theresa E. Honein, Oliver M. O'Reilly

Publication date 9 April 2025

Published in Proceedings of the Royal Society of London. A. Mathematical, Physical and Engineering Sciences (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1098/RSPA.2023.0684

zbMATH Keywords

holonomymotion planningnon-holonomic constraintsrolling sphererotationsspherical robots

Mathematics Subject Classification ID

Holonomic systems related to the dynamics of a system of particles (70F20)

Cites work

• Geometric phases in the motion of rigid bodies
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• Intermediate Dynamics for Engineers
• On geodesics of the rotation group \(\mathrm{SO}(3)\)
• Stability in aviation. An introduction to dynamical stability as applied to the motions of aeroplanes.
• The dynamics and control of a spherical robot with an internal omniwheel platform
• The Nonholonomy of the Rolling Sphere

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