Abstract
This paper deals with the problem of a spherical robot propelled by an internal omniwheel platform and rolling without slipping on a plane. The problem of control of spherical robot motion along an arbitrary trajectory is solved within the framework of a kinematic model and a dynamic model. A number of particular cases of motion are identified, and their stability is investigated. An algorithm for constructing elementary maneuvers (gaits) providing the transition from one steady-state motion to another is presented for the dynamic model. A number of experiments have been carried out confirming the adequacy of the proposed kinematic model.
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Karavaev, Y.L., Kilin, A.A. The dynamics and control of a spherical robot with an internal omniwheel platform. Regul. Chaot. Dyn. 20, 134–152 (2015). https://doi.org/10.1134/S1560354715020033
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DOI: https://doi.org/10.1134/S1560354715020033