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Regular and Chaotic Dynamics, 2015, Volume 20, Issue 4, Pages 441–448
DOI: https://doi.org/10.1134/S1560354715040036 (Mi rcd24) 		 
This article is cited in 15 scientific papers (total in 15 papers)

On the Control of a Robot Ball Using Two Omniwheels

Alexander P. Ivanov

Moscow Institute of Physics and Technology, Inststitutskii per. 9, Dolgoprudnyi, 141700, Russia
Citations (15)
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DOI: https://doi.org/10.1134/S1560354715040036
Abstract: We discuss the dynamics of a balanced body of spherical shape on a rough plane, controlled by the movement of a built-in shell. These two shells are set in relative motion due to rotation of the two symmetrical omniwheels. It is shown that the ball can be moved to any point on the plane along a straight or (in the case of the initial degeneration) polygonal line. Moreover, any prescribed curvilinear trajectory of the ball center can be followed by an appropriate control strategy as far as the diameter connecting both wheels is nonvertical.
Keywords: robot ball, omniwheel, control.
Funding agency Grant number
Russian Foundation for Basic Research 14-01-00432
This work was partially supported by the Russian Foundation for Basic Research (project 14-01-00432) within the framework of the Russian Federation task No. 2014/120.
Received: 26.03.2015
Bibliographic databases:
Document Type: Article
MSC: 37J60, 37J35, 70E18, 70F25, 70H45
Language: English
Citation: Alexander P. Ivanov, “On the Control of a Robot Ball Using Two Omniwheels”, Regul. Chaotic Dyn., 20:4 (2015), 441–448
Citation in format AMSBIB
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\paper On the Control of a Robot Ball Using Two Omniwheels
\jour Regul. Chaotic Dyn.
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\pages 441--448
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    • This publication is cited in the following 15 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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