How to control the Chaplygin ball using rotors. II
From MaRDI portal
Publication:358454
DOI10.1134/S1560354713010103zbMath1303.37021OpenAlexW2070029915MaRDI QIDQ358454
Alexey V. Borisov, Alexander A. Kilin, Ivan. S. Mamaev
Publication date: 8 August 2013
Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1134/s1560354713010103
Controllability (93B05) Control of mechanical systems (70Q05) Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Dynamical systems in control (37N35) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control/observation systems governed by ordinary differential equations (93C15) Motion of a rigid body in contact with a solid surface (70E18) Obstructions to integrability for finite-dimensional Hamiltonian and Lagrangian systems (nonintegrability criteria) (37J30)
Related Items
On final motions of a Chaplygin ball on a rough plane ⋮ Control of the motion of a helical body in a fluid using rotors ⋮ Regular and chaotic dynamics in the rubber model of a Chaplygin top ⋮ Experimental investigations of the controlled motion of a screwless underwater robot ⋮ Spiral chaos in the nonholonomic model of a Chaplygin top ⋮ Control of body motion in an ideal fluid using the internal mass and the rotor in the presence of circulation around the body ⋮ Adiabatic invariants, diffusion and acceleration in rigid body dynamics ⋮ The phenomenon of reversal in the Euler-Poincaré-Suslov nonholonomic systems ⋮ On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors ⋮ The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere ⋮ Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics ⋮ Comments on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev ``How to control the Chaplygin ball using rotors. II ⋮ The dynamics of systems with servoconstraints. II ⋮ On the control of a robot ball using two omniwheels ⋮ Optimal control of the motion of a helical body in a liquid using rotors ⋮ A geometric motion planning for a spin-rolling sphere on a plane ⋮ Spherical Robots: An Up-to-Date Overview of Designs and Features ⋮ Comparative Analysis of the Dynamics of a Spherical Robot with a Balanced Internal Platform Taking into Account Different Models of Contact Friction ⋮ The rolling motion of a truncated ball without slipping and spinning on a plane ⋮ Quaternion model of programmed control over motion of a Chaplygin ball ⋮ Experimental investigation of the motion of a body with an axisymmetric base sliding on a rough plane ⋮ Control of locomotion systems and dynamics in relative periodic orbits ⋮ The problem of drift and recurrence for the rolling Chaplygin ball ⋮ Invariant Submanifolds of Genus 5 and a Cantor Staircase in the Nonholonomic Model of a Snakeboard ⋮ Dynamics of the Chaplygin Ball with Variable Parameters ⋮ Controlled motion of a spherical robot with feedback. II. ⋮ Dynamics-based motion planning for a pendulum-actuated spherical rolling robot ⋮ Control of the motion of a triaxial ellipsoid in a fluid using rotors ⋮ Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments ⋮ Controlled motion of a rigid body with internal mechanisms in an ideal incompressible fluid ⋮ Controlled motion of a spherical robot with feedback. I ⋮ The Chaplygin sleigh with parametric excitation: chaotic dynamics and nonholonomic acceleration ⋮ 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 ⋮ Stabilization of the motion of a spherical robot using feedbacks ⋮ Fermi-like acceleration and power-law energy growth in nonholonomic systems ⋮ Locomotion of multibody robotic systems: Dynamics and optimization ⋮ On the normal force and static friction acting on a rolling ball actuated by internal point masses ⋮ Motion control of the spherical robot rolling on a vibrating plane ⋮ Hamiltonization of elementary nonholonomic systems
Cites Work
- Unnamed Item
- Unnamed Item
- On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
- The dynamics of a rigid body colliding with a rigid surface
- Generalized Chaplygin's transformation and explicit integration of a system with a spherical support
- How to control Chaplygin's sphere using rotors
- On the motion of Chaplygin's sphere on a horizontal plane
- Motion of a heavy rigid body on a horizontal plane with viscous friction
- The dynamics of Chaplygin ball: the qualitative and computer analysis
