Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments
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Publication:521548
DOI10.1134/S0081543816080095zbMATH Open1367.70017MaRDI QIDQ521548FDOQ521548
Authors: Yury L. Karavaev, Alexander A. Kilin 
Publication date: 11 April 2017
Published in: Proceedings of the Steklov Institute of Mathematics (Search for Journal in Brave)
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Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25)
Cites Work
- The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside
- How to control the Chaplygin ball using rotors. II
- The Jacobi integral in nonholonomic mechanics
- The dynamics and control of a spherical robot with an internal omniwheel platform
- Comments on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev ``How to control the Chaplygin ball using rotors. II
- Experimental investigation of the motion of a body with an axisymmetric base sliding on a rough plane
- Dynamics and control of an omniwheel vehicle
- Modeling of spherical robots rolling on generic surfaces
- Equations of motion of non-holonomic systems
Cited In (32)
- Dynamics of rubber Chaplygin sphere under periodic control
- Stabilization of the motion of a spherical robot using feedbacks
- Qualitative analysis of the nonholonomic rolling of a rubber wheel with sharp edges
- Dynamics of a spherical robot with variable moments of inertia and a displaced center of mass
- Design and analysis of a spherical mobile robot
- Spherical robot of combined type: dynamics and control
- Integrable nonsmooth nonholonomic dynamics of a rubber wheel with sharp edges
- Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform
- Dynamics and control of an omniwheel vehicle
- On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
- On the control of a robot ball using two omniwheels
- Euler elasticas for optimal control of the motion of mobile wheeled robots: the problem of experimental realization
- Experimental research of dynamic of spherical robot of combined type
- Dynamics-based motion planning for a pendulum-actuated spherical rolling robot
- An inhomogeneous Chaplygin sleigh
- Comparative Analysis of the Dynamics of a Spherical Robot with a Balanced Internal Platform Taking into Account Different Models of Contact Friction
- Spherical Robots: An Up-to-Date Overview of Designs and Features
- Control of a spherical robot with a nonholonomic omniwheel hinge inside
- An omni-wheel vehicle on a plane and a sphere
- The dynamical model of the rolling friction of spherical bodies on a plane without slipping
- Modelling of the robotic Powerball\(^\circledR \): a nonholonomic, underactuated and variable structure-type system
- The dynamics and control of a spherical robot with an internal omniwheel platform
- Robust three-dimensional non-contacting angular motion sensor
- A new mobile ball robot-dynamic modeling and simulation
- The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform
- Modeling of spherical robots rolling on generic surfaces
- Stability and stabilization of steady rotations of a spherical robot on a vibrating base
- Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum
- The theory of the generalized magnus effect for non-holonomic mechanical systems
- On the control of a robot-ball using two omni-wheels
- Controlled motion of a spherical robot with feedback. II.
- Controlled motion of a spherical robot with feedback. I
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