Control of a pendulum-actuated spherical robot on a horizontal plane with rolling resistance

Ivanova, Tatiana B.; Karavaev, Yury L.; Kilin, Alexander A.

doi:10.1007/s00419-021-02045-6

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Combination Of Several Methods Of Actuation1

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2022

2023

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Cited by 4 publications

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“…The algorithms for controlling such robots are based on the investigation of the kinematics and dynamics of the motion of the model of a spherical robot with the Lagrange pendulum [162]. An analysis is also made of the control algorithm using gaits which takes into account viscous rolling friction [163], and the stabilization of its motion [164,165] is investigated. A high-tech design of combined type is that of the prototype of a gyrostabilized spherical vehicle [166].…”

Section: Combination Of Several Methods Of Actuationmentioning

confidence: 99%