Modeling of spherical robots rolling on generic surfaces

DOI10.1007/S11044-014-9438-3MaRDI QIDQ497838zbMATH OpenOpenAlexFDO

Authors François Robert Hogan, James Richard Forbes

Publication date 25 September 2015

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-014-9438-3

zbMATH Keywords

Euler parametersnonholonomic constraintsspherical robotstumbleweed rover

Mathematics Subject Classification ID

Motion of a rigid body in contact with a solid surface (70E18) Robot dynamics and control of rigid bodies (70E60)

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Cites work

• A motion control for a spherical robot with pendulum drive
• A sphere rolling on the inside surface of a cone
• Analytical mechanics of space systems.
• Chaplygin ball over a fixed sphere: an explicit integration
• Design and analysis of a spherical mobile robot
• Dynamic modeling and stability analysis of a power-generating tumbleweed rover
• Dynamics modelling of hexaslides using the decoupled natural orthogonal complement matrices
• Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement
• Dynamics of rolling disk
• scientific article; zbMATH DE number 5224005 (Why is no real title available?)
• Rolling of a ball on a surface. New integrals and hierarchy of dynamics
• Stability of steady rotations in the nonholonomic Routh problem

Cited in

(7)

• On the problem of a heavy homogeneous ball rolling without slipping over a fixed surface of revolution
• Stability and stabilization of steady rotations of a spherical robot on a vibrating base
• Kinematics of spherical robots rolling over 3D terrains
• Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments
• Spherical Robots: An Up-to-Date Overview of Designs and Features
• Control of a spherical robot with a nonholonomic omniwheel hinge inside
• Modelling and control of a non-holonomic pendulum-driven spherical robot moving on an inclined plane: simulation and experimental results

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