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    Experimental research of dynamic of spherical robot of combined type

    2015, Vol. 11, No. 4, pp.  721–734

    Author(s): Kilin A. A., Karavaev Y. L.

    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
    Citation: Kilin A. A., Karavaev Y. L., Experimental research of dynamic of spherical robot of combined type, Rus. J. Nonlin. Dyn., 2015, Vol. 11, No. 4, pp.  721–734
    DOI:10.20537/nd1504007


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