Dokl. Akad. Nauk, 2018, Volume 482, Number 6, Pages 655–660
Control of the Rolling Motion of a Spherical Robot on an Inclined Plane
T. B. Ivanova, A. A. Kilin, E. N. Pivovarova
V.A. Steklov Mathematical Institute RAS, Moscow, Russia
In this work we consider the controlled motion of a pendulum spherical robot on an inclined plane.
The algorithm for determining the control actions for the motion along an arbitrary trajectory and examples
of numerical simulation of the controlled motion are given.
|Russian Science Foundation
|This work was carried out at the Steklov Mathematical
Institute of the Russian Academy of Sciences
and was supported by the grant of the Russian Science
Foundation no. 14-50-00005.
Doklady Physics, 2018, 63:10, 435–440
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