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

This article is cited in 9 scientific papers (total in 9 papers)

Original papers

Experimental research of dynamic of spherical robot of combined type

A. A. Kilina, Yu. L. Karavaevb

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

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

Full text: PDF file (761 kB)
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UDC: 62.529
MSC: 93B18, 93B52
Received: 05.11.2015
Revised: 02.12.2015

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
\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

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    This publication is cited in the following articles:
    1. 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  mathnet  elib
    2. 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  mathnet  crossref  elib
    3. E. N. Pivovarova, “Issledovanie ustoichivosti statsionarnykh dvizhenii sferorobota kombinirovannogo tipa”, Nelineinaya dinam., 13:4 (2017), 611–623  mathnet  crossref  elib
    4. 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  crossref  mathscinet  zmath  isi  scopus
    5. 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  mathnet  crossref  mathscinet  elib
    6. 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  mathnet  crossref
    7. 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  crossref  mathscinet  zmath  isi  scopus
    8. 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  crossref  mathscinet  zmath  isi  scopus
    9. 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  mathnet  crossref  mathscinet
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