A. A. Kilin, Yu. L. Karavaev, “Experimental research of dynamic of spherical robot of combined type”, Nelin. Dinam., 11:4 (2015), 721

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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics]

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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2015, Volume 11, Number 4, Pages 721–734 (Mi nd504)

This article is cited in 11 scientific papers (total in 11 papers)

Original papers

Experimental research of dynamic of spherical robot of combined type

A. A. Kilin^a, Yu. L. Karavaev^b

^a Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
^b M.T.Kalashnikov Izhevsk State Technical University, Studencheskaya st. 7, Izhevsk, 426069, Russia

Full-text PDF (761 kB) Citations (11)

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Abstract: This paper presents the results of experimental investigations for the rolling of a spherical robot of combined type actuated by an internal wheeled vehicle with rotor on a horizontal plane. The control of spherical robot based on nonholonomic dynamical by means of gaits. We consider the motion of the spherical robot in case of constant control actions, as well as impulse control. A number of experiments have been carried out confirming the importance of rolling friction.

Keywords: spherical robot of combined type, dynamic model, control by means of gaits, rolling friction.

Funding agency	Grant number
Russian Foundation for Basic Research	15-08-09261-a
Russian Science Foundation	14-19-01303

Received: 05.11.2015
Revised: 02.12.2015

Document Type: Article

UDC: 62.529

MSC: 93B18, 93B52

Language: Russian

Citation: A. A. Kilin, Yu. L. Karavaev, “Experimental research of dynamic of spherical robot of combined type”, Nelin. Dinam., 11:4 (2015), 721–734

Citation in format AMSBIB

\Bibitem{KilKar15}

\by A.~A.~Kilin, Yu.~L.~Karavaev

\paper Experimental research of dynamic of spherical robot of combined type

\jour Nelin. Dinam.

\yr 2015

\vol 11

\issue 4

\pages 721--734

\mathnet{http://mi.mathnet.ru/nd504}

Linking options:

https://www.mathnet.ru/eng/nd504

https://www.mathnet.ru/eng/nd/v11/i4/p721

This publication is cited in the following 11 articles:

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
Yu. L. Karavaev, “Spherical Robots: An Up-to-Date Overview of Designs and Features”, Rus. J. Nonlin. Dyn., 18:4 (2022), 709–750
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
Yu. L. Karavaev, A. A. Kilin, “The Dynamics of a Spherical Robot of Combined Type by Periodic Control Actions”, Rus. J. Nonlin. Dyn., 15:4 (2019), 497–504
Andrey A. Ardentov, Yury L. Karavaev, Kirill S. Yefremov, “Euler Elasticas for Optimal Control of the Motion of Mobile Wheeled Robots: the Problem of Experimental Realization”, Regul. Chaotic Dyn., 24:3 (2019), 312–328
A. Borisov, A. Kilin, Yu. Karavaev, A. Klekovkin, “Stabilization of the motion of a spherical robot using feedbacks”, Appl. Math. Model., 69 (2019), 583–592
T. B. Ivanova, A. A. Kilin, E. N. Pivovarova, “Controlled motion of a spherical robot with feedback. II”, J. Dyn. Control Syst., 25:1 (2019), 1–16
T. B. Ivanova, A. A. Kilin, E. N. Pivovarova, “Controlled motion of a spherical robot with feedback. I”, J. Dyn. Control Syst., 24:3 (2018), 497–510
Yu. L. Karavaev, A. V. Klekovkin, A. A. Kilin, “Dinamicheskaya model treniya kacheniya sfericheskikh tel po ploskosti bez proskalzyvaniya”, Nelineinaya dinam., 13:4 (2017), 599–609
E. N. Pivovarova, “Issledovanie ustoichivosti statsionarnykh dvizhenii sferorobota kombinirovannogo tipa”, Nelineinaya dinam., 13:4 (2017), 611–623
E. N. Pivovarova, A. V. Klekovkin, “Vliyanie treniya kacheniya na upravlyaemoe dvizhenie robota-kolesa”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 25:4 (2015), 583–592

Citing articles in Google Scholar: Russian citations, English citations
Related articles in Google Scholar: Russian articles, English articles

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References:	117

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