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Rolling Resistance Model and Control of Spherical Robot

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Robotics for Sustainable Future (CLAWAR 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 324))

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Abstract

The paper presents the model of rolling resistance and the application of this model for the control of a pendulum actuated spherical robot on a horizontal plane. Control actions are derived in the form of maneuvers (gaits) which ensure the transition between two steady motions of the system. The experiments confirming the applicability of the model of viscous rolling friction and a method for determining coefficients of rolling resistance from experimental data are presented.

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Author information

Authors and Affiliations

  1. Udmurt State University, 426034, Izhevsk, Russia

    Alexander A. Kilin & Tatiana B. Ivanova

  2. Kalashnikov Izhevsk State Technical University, 426069, Izhevsk, Russia

    Yury L. Karavaev

Authors
  1. Alexander A. Kilin
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  2. Yury L. Karavaev
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  3. Tatiana B. Ivanova
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Corresponding author

Correspondence to Yury L. Karavaev .

Editor information

Editors and Affiliations

  1. Department of Engineering, Kwansei Gakuin University, Hyogo, Japan

    Daisuke Chugo

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Chuo University, Bunkyo-ku, Tokyo, Japan

    Taro Nakamura

  5. School of Engineering, University of Lincoln, Lincolnshire, UK

    Khaled Goher

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Kilin, A.A., Karavaev, Y.L., Ivanova, T.B. (2022). Rolling Resistance Model and Control of Spherical Robot. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_35

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