Rolling Resistance Model and Control of Spherical Robot
Autor: | Tatiana B. Ivanova, Yury L. Karavaev, Alexander A. Kilin |
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Rok vydání: | 2021 |
Předmět: | |
Zdroj: | Robotics for Sustainable Future ISBN: 9783030862930 CLAWAR |
Popis: | The paper presents the model of rolling resistance and the application of this model for the control of a pendulum actuated spherical robot on a horizontal plane. Control actions are derived in the form of maneuvers (gaits) which ensure the transition between two steady motions of the system. The experiments confirming the applicability of the model of viscous rolling friction and a method for determining coefficients of rolling resistance from experimental data are presented. |
Databáze: | OpenAIRE |
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