Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics]
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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2015, Volume 11, Number 4, Pages 721–734 (Mi nd504)  
This article is cited in 11 scientific papers (total in 11 papers)

Original papers

Experimental research of dynamic of spherical robot of combined type

A. A. Kilina, Yu. L. Karavaevb

a Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
b M.T.Kalashnikov Izhevsk State Technical University, Studencheskaya st. 7, Izhevsk, 426069, Russia
Full-text PDF (761 kB) Citations (11)
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Abstract: This paper presents the results of experimental investigations for the rolling of a spherical robot of combined type actuated by an internal wheeled vehicle with rotor on a horizontal plane. The control of spherical robot based on nonholonomic dynamical by means of gaits. We consider the motion of the spherical robot in case of constant control actions, as well as impulse control. A number of experiments have been carried out confirming the importance of rolling friction.
Keywords: spherical robot of combined type, dynamic model, control by means of gaits, rolling friction.
Funding agency Grant number
Russian Foundation for Basic Research 15-08-09261-a
Russian Science Foundation 14-19-01303
Received: 05.11.2015
Revised: 02.12.2015
Document Type: Article
UDC: 62.529
MSC: 93B18, 93B52
Language: Russian
Citation: A. A. Kilin, Yu. L. Karavaev, “Experimental research of dynamic of spherical robot of combined type”, Nelin. Dinam., 11:4 (2015), 721–734
Citation in format AMSBIB
\Bibitem{KilKar15}
\by A.~A.~Kilin, Yu.~L.~Karavaev
\paper Experimental research of dynamic of spherical robot of combined type
\jour Nelin. Dinam.
\yr 2015
\vol 11
\issue 4
\pages 721--734
\mathnet{http://mi.mathnet.ru/nd504}
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  • https://www.mathnet.ru/eng/nd/v11/i4/p721
    • This publication is cited in the following 11 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    		Нелинейная динамика
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