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

We investigate the model of controlled motion of a pendulum-actuated spherical robot on a horizontal plane, taking rolling resistance into account. We derive equations of motion and obtain partial steady-state solutions. We present algorithms for designing elementary maneuvers (gaits) which ensure t...

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Bibliographic Details
Published in:Archive of applied mechanics (1991) 2022-01, Vol.92 (1), p.137-150
Main Authors: Ivanova, Tatiana B., Karavaev, Yury L., Kilin, Alexander A.
Format: Article
Language:English
Subjects:
Algorithms
Classical Mechanics
Engineering
Equations of motion
Maneuvers
Original
Pendulums
Robot dynamics
Rolling resistance
Straight lines
Theoretical and Applied Mechanics
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Summary:We investigate the model of controlled motion of a pendulum-actuated spherical robot on a horizontal plane, taking rolling resistance into account. We derive equations of motion and obtain partial steady-state solutions. We present algorithms for designing elementary maneuvers (gaits) which ensure transition between two steady motions of the system. These gaits correspond to the acceleration along a straight line and to the turn through a given angle.
ISSN:0939-1533
1432-0681
DOI:10.1007/s00419-021-02045-6