How to control Chaplygin's sphere using rotors

Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Constrained dynamics, Dirac's theory of constraints (70H45) Nonholonomic systems related to the dynamics of a system of particles (70F25) Motion of a rigid body in contact with a solid surface (70E18) Nonholonomic dynamical systems (37J60)

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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 ⋮ Dynamics of the Chaplygin sleigh on a cylinder ⋮ Spherical robot of combined type: dynamics and control ⋮ Qualitative analysis of the dynamics of a wheeled vehicle ⋮ Adiabatic invariants, diffusion and acceleration in rigid body dynamics ⋮ On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors ⋮ How to control the Chaplygin ball using rotors. II ⋮ 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 ⋮ Semi-globally exponential trajectory tracking for a class of spherical robots ⋮ 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 ⋮ Motion Control of a Spherical Robot with a Pendulum Actuator for Pursuing a Target ⋮ The rolling motion of a truncated ball without slipping and spinning on a plane ⋮ The problem of optimal control of a Chaplygin ball by internal rotors ⋮ Rolling of a ball without spinning on a plane: the absence of an invariant measure in a system with a complete set of integrals ⋮ Two nonholonomic chaotic systems. II: On the rolling of a nonholonomic bundle of two bodies ⋮ Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot ⋮ 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 ⋮ An inhomogeneous Chaplygin sleigh ⋮ Stability analysis of steady motions of a spherical robot of combined type ⋮ Chaplygin top with a periodic gyrostatic moment ⋮ 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 ⋮ Controlled motion of a spherical robot with feedback. II. ⋮ Stability and stabilization of steady rotations of a spherical robot on a vibrating base ⋮ Dynamics-based motion planning for a pendulum-actuated spherical rolling robot ⋮ The dynamics of a Chaplygin sleigh with an elastic internal rotor ⋮ Control of the motion of a triaxial ellipsoid in a fluid using rotors ⋮ 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 ⋮ Different models of rolling for a robot ball on a plane as a generalization of the Chaplygin ball problem ⋮ Fermi-like acceleration and power-law energy growth in nonholonomic systems ⋮ A particular integrable case in the nonautonomous problem of a Chaplygin sphere rolling on a vibrating plane ⋮ On the normal force and static friction acting on a rolling ball actuated by internal point masses ⋮ Qualitative analysis of the nonholonomic rolling of a rubber wheel with sharp edges ⋮ Motion control of the spherical robot rolling on a vibrating plane ⋮ Dynamics of the nonholonomic Suslov problem under periodic control: unbounded speedup and strange attractors

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