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.
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.
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
\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
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