Regular and Chaotic Dynamics
RUS  ENG    JOURNALS   PEOPLE   ORGANISATIONS   CONFERENCES   SEMINARS   VIDEO LIBRARY   PACKAGE AMSBIB  
General information
Latest issue
Archive
Impact factor

Search papers
Search references

RSS
Latest issue
Current issues
Archive issues
What is RSS


Regul. Chaotic Dyn.:
Year:
Volume:
Issue:
Page:
Find




Personal entry:
Login:
Password:
Save password
Enter
Forgotten password?
Register

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
Citations (68)
References:
PDF
HTML
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
\Bibitem{KarKil15}
\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
\mathnet{http://mi.mathnet.ru/rcd17}
\crossref{https://doi.org/10.1134/S1560354715020033}
\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=3332947}
\zmath{https://zbmath.org/?q=an:1317.93192}
\adsnasa{https://adsabs.harvard.edu/cgi-bin/bib_query?2015RCD....20..134K}
\isi{https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=Publons&SrcAuth=Publons_CEL&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=000352483000003}
\elib{https://elibrary.ru/item.asp?id=24024283}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-84928249695}
Linking options:
  • https://www.mathnet.ru/eng/rcd17
  • https://www.mathnet.ru/eng/rcd/v20/i2/p134
    • This publication is cited in the following 68 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    Statistics & downloads:
    Abstract page:402
    References:70
     
      Contact us:
    		  Terms of Use  Registration to the website  Logotypes © Steklov Mathematical Institute RAS, 2024