Design and analysis of a spherical mobile robot

DOI10.1016/J.MECHMACHTHEORY.2009.04.003MaRDI QIDQ2269095zbMATH OpenOpenAlexWikidataFDO

Authors Vrunda A. Joshi, Ravi N. Banavar, Rohit Hippalgaonkar

Publication date 16 March 2010

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2009.04.003

zbMATH Keywords

nonholonomic systemsspherical robotEuler parameters

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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Cites work

• scientific article; zbMATH DE number 3888956 (Why is no real title available?)
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• scientific article; zbMATH DE number 193221 (Why is no real title available?)
• scientific article; zbMATH DE number 4118601 (Why is no real title available?)
• Exponential stabilization of the rolling sphere
• Nilpotent bases for a class of nonintegrable distributions with applications to trajectory generation for nonholonomic systems
• Nonholonomic motion planning: steering using sinusoids
• Reconfiguration of a Rolling Sphere: A Problem in Evolute-Involute Geometry

Cited in

(16)

• A new mobile ball robot-dynamic modeling and simulation
• On the iterative steering of a rolling robot actuated by internal rotors
• Stability and stabilization of steady rotations of a spherical robot on a vibrating base
• Comments on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev ``How to control the Chaplygin ball using rotors. II
• DP-based path planning of a spherical mobile robot in an environment with obstacles
• Small Radius Spheres in Output Space of Nonholonomic Systems
• How to control the Chaplygin sphere using rotors
• How to control Chaplygin's sphere using rotors
• scientific article; zbMATH DE number 1944880 (Why is no real title available?)
• Semi-globally exponential trajectory tracking for a class of spherical robots
• Motion control of the spherical robot rolling on a vibrating plane
• Quaternion model of programmed control over motion of a Chaplygin ball
• A general formulation of bead models applied to flexible fibers and active filaments at low Reynolds number
• Modeling of spherical robots rolling on generic surfaces
• Spherical Robots: An Up-to-Date Overview of Designs and Features
• Adaptive estimation of nonlinear parameters of a nonholonomic spherical robot using a modified fuzzy-based speed gradient algorithm

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