期刊
REGULAR & CHAOTIC DYNAMICS
卷 20, 期 2, 页码 134-152出版社
PLEIADES PUBLISHING INC
DOI: 10.1134/S1560354715020033
关键词
spherical robot; kinematic model; dynamic model; nonholonomic constraint; omni-wheel
资金
- Russian Science Foundation [14-50-00005]
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据