Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum

DOI10.1002/rnc.3457zbMath1346.93271OpenAlexW2148713684MaRDI QIDQ3187879

Sneha Gajbhiye, Ravi N. Banavar

Publication date: 5 September 2016

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.3457

zbMATH Keywords

differential geometryspherical robotEuler-Poincaré equation

Mathematics Subject Classification ID

Controllability (93B05) Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Artificial intelligence for robotics (68T40)

Related Items (7)

Spherical robot of combined type: dynamics and control ⋮ Rigid body with rotors and reduction by stages ⋮ Motion Control of a Spherical Robot with a Pendulum Actuator for Pursuing a Target ⋮ Stability analysis of steady motions of a spherical robot of combined type ⋮ Controlled motion of a spherical robot with feedback. I ⋮ Stabilization of the motion of a spherical robot using feedbacks ⋮ On the normal force and static friction acting on a rolling ball actuated by internal point masses

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