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Regular and Chaotic Dynamics, 2015, Volume 20, Issue 2, Pages 134–152
DOI: https://doi.org/10.1134/S1560354715020033 (Mi rcd17) 		 
This article is cited in 68 scientific papers (total in 68 papers)

The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform

Yury L. Karavaeva, Alexander A. Kilinb

a M. T. Kalashnikov Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069 Russia
b Udmurt State University, ul. Universitetskaya 1, Izhevsk, 426034 Russia
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DOI: https://doi.org/10.1134/S1560354715020033
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.
Keywords: spherical robot, kinematic model, dynamic model, nonholonomic constraint, omniwheel.
Funding agency Grant number
Russian Science Foundation 14-50-00005
This work is supported by the Russian Science Foundation under grant 14-50-00005 and performed in Steklov Mathematical Institute of Russian Academy of Sciences.
Received: 19.01.2014
Accepted: 27.02.2015
Bibliographic databases:
Document Type: Article
MSC: 93B18, 93B52
Language: English
Citation: Yury L. Karavaev, Alexander A. Kilin, “The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform”, Regul. Chaotic Dyn., 20:2 (2015), 134–152
Citation in format AMSBIB
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\by Yury L. Karavaev, Alexander A. Kilin
\paper The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform
\jour Regul. Chaotic Dyn.
\yr 2015
\vol 20
\issue 2
\pages 134--152
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    • This publication is cited in the following 68 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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