Geometric kinematic control of a spherical rolling robot (Q2303758)

In the paper under review the kinematic control of a spherical rolling robot controlled by two internal wheels is considered from a geometrical point of view. An interesting interplay between geometry and mechanical notions like manifolds, symmetry, bundles, holonomic and nonholonomic mechanics, etc. are involved through which a contemporary study of the kinematical optimal control problem of the spherical robot is presented. It is shown that the optimal control problem is completely integrable, and its explicit solution is found.