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Trudy Matematicheskogo Instituta imeni V.A. Steklova, 2016, Volume 295, Pages 174–183
DOI: https://doi.org/10.1134/S0371968516040099 (Mi tm3755) 		 
This article is cited in 46 scientific papers (total in 46 papers)

Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments

Yu. L. Karavaevab, A. A. Kilinb

a Kalashnikov Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069 Russia
b Udmurt State University, ul. Universitetskaya 1, Izhevsk, 426034 Russia
Full-text PDF (387 kB) Citations (46)
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DOI: https://doi.org/10.1134/S0371968516040099
Abstract: We present the results of theoretical and experimental investigations of the motion of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed inside the robot. The control of the spherical robot is based on a dynamic model in the nonholonomic statement expressed as equations of motion in quasivelocities with indeterminate coefficients. A number of experiments have been carried out that confirm the adequacy of the dynamic model proposed.
Funding agency Grant number
Russian Foundation for Basic Research 15-38-20879-мол_а_вед
15-08-09261-а
Russian Science Foundation 14-19-01303
The work of A.A. Kilin (Sections 2 and 3) is supported by the Russian Foundation for Basic Research, project nos. 15-38-20879-mol_a_ved and 15-08-09261-a. The work of Yu.L. Karavaev (Sections 4 and 5) is supported by the Russian Science Foundation under grant 14-19-01303.
Received: June 29, 2016
English version:
Proceedings of the Steklov Institute of Mathematics, 2016, Volume 295, Pages 158–167
DOI: https://doi.org/10.1134/S0081543816080095
Bibliographic databases:
Document Type: Article
UDC: 51-72+531.133.1+531.384+621.865.8
Language: Russian
Citation: Yu. L. Karavaev, A. A. Kilin, “Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments”, Modern problems of mechanics, Collected papers, Trudy Mat. Inst. Steklova, 295, MAIK Nauka/Interperiodica, Moscow, 2016, 174–183; Proc. Steklov Inst. Math., 295 (2016), 158–167
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\publ MAIK Nauka/Interperiodica
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    • This publication is cited in the following 46 articles:
    1. Marek Bujňák, Rastislav Pirník, Dušan Nemec, Júlia Kafková, Aleš Janota, Pavol Kuchár, “SpheriDrive: A spherical robot with an innovative 3-wheeled platform and omnidirectional wheels”, Results in Engineering, 25 (2025), 104351  crossref
    2. Aminata Diouf, Bruno Belzile, Maarouf Saad, David St-Onge, “Spherical rolling robots—Design, modeling, and control: A systematic literature review”, Robotics and Autonomous Systems, 175 (2024), 104657  crossref
    3. A. V. Klekovkin, Yu. L. Karavaev, A. V. Nazarov, “Stabilization of a Spherical Robot with an Internal Pendulum During Motion on an Oscillating Base”, Rus. J. Nonlin. Dyn., 20:5 (2024), 845–858  mathnet  crossref
    4. Suwan Bu, Liang Yan, Xiaoshan Gao, Gang Wang, Peiran Zhao, I-Ming Chen, “Design and Motion Control of Spherical Robot With Built-In Four-Wheel Omnidirectional Mobile Platform”, IEEE Trans. Instrum. Meas., 72 (2023), 1  crossref
    5. Yansheng Li, Meimei Yang, Bo Wei, Yi Zhang, “Energy-saving control of rolling speed for spherical robot based on regenerative damping”, Nonlinear Dyn, 111:8 (2023), 7235  crossref
    6. Ivanova T.B., Karavaev Yu.L., Kilin A.A., “Control of a Pendulum-Actuated Spherical Robot on a Horizontal Plane With Rolling Resistance”, Arch. Appl. Mech., 92:1 (2022), 137–150  crossref  isi
    7. Kilin A.A., Karavaev Yu.L., Ivanova T.B., “Rolling Resistance Model and Control of Spherical Robot”, Robotics For Sustainable Future, Clawar 2021, Lecture Notes in Networks and Systems, 324, eds. Chugo D., Tokhi M., Silva M., Nakamura T., Goher K., Springer International Publishing Ag, 2022, 396–407  crossref  isi  scopus
    8. Yu. L. Karavaev, “Spherical Robots: An Up-to-Date Overview of Designs and Features”, Rus. J. Nonlin. Dyn., 18:4 (2022), 709–750  mathnet  crossref  mathscinet
    9. Jasper Zevering, Dorit Borrmann, Anton Bredenbeck, Andreas Nüchter, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, 5656  crossref
    10. Darina Hroncova, Lubica Mikova, Erik Prada, Robert Rakay, Peter Jan Sincak, Tomas Merva, 2022 20th International Conference on Mechatronics - Mechatronika (ME), 2022, 1  crossref
    11. Yu. Fang, Yu. Zhang, Y. Shang, T. Huang, M. Yan, “Center-point steering analysis of tracked omni-vehicles based on skid conditions”, Mech. Sci., 12:1 (2021), 511–527  crossref  isi
    12. Alexander Kilin, Elena Pivovarova, 2021 International Conference “Nonlinearity, Information and Robotics” (NIR), 2021, 1  crossref
    13. Andrei Ardentov, Kirill Yefremov, 2021 International Conference “Nonlinearity, Information and Robotics” (NIR), 2021, 1  crossref
    14. Ivan S. Mamaev, Evgeny V. Vetchanin, “Dynamics of Rubber Chaplygin Sphere under Periodic Control”, Regul. Chaotic Dyn., 25:2 (2020), 215–236  mathnet  crossref
    15. Elizaveta M. Artemova, Yury L. Karavaev, Ivan S. Mamaev, Evgeny V. Vetchanin, “Dynamics of a Spherical Robot with Variable Moments of Inertia and a Displaced Center of Mass”, Regul. Chaotic Dyn., 25:6 (2020), 689–706  mathnet  crossref  mathscinet
    16. Alexander A. Kilin, Elena N. Pivovarova, “Stability and Stabilization of Steady Rotations of a Spherical Robot on a Vibrating Base”, Regul. Chaotic Dyn., 25:6 (2020), 729–752  mathnet  crossref  mathscinet
    17. V. Putkaradze, S. Rogers, “On the optimal control of a rolling ball robot actuated by internal point masses”, J. Dyn. Syst. Meas. Control-Trans. ASME, 142:5 (2020)  crossref  isi
    18. T. Zhou, Yu.-g. Xu, B. Wu, “Smooth fractional order sliding mode controller for spherical robots with input saturation”, Appl. Sci.-Basel, 10:6 (2020)  crossref  isi
    19. I. Virgala, L. Mikova, T. Kelemenova, M. Kelemen, E. Prada, D. Hroncova, M. Varga, “Reconfigurable wheel-legged robot”, MM Sci. J., 2020 (2020), 3960–3965  crossref  isi  scopus
    20. A. A. Kilin, E. N. Pivovarova, “Neintegriruemost zadachi o kachenii sfericheskogo volchka po vibriruyuschei ploskosti”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 30:4 (2020), 628–644  mathnet  crossref
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    		Труды Математического института имени В. А. Стеклова Proceedings of the Steklov Institute of Mathematics
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