Rolling Resistance Model and Control of Spherical Robot

Autor:	Tatiana B. Ivanova, Yury L. Karavaev, Alexander A. Kilin
Rok vydání:	2021
Předmět:	Physics::Fluid Dynamics Computer Science::Robotics Physics Rolling resistance Pendulum Mechanics Physics::Classical Physics Horizontal plane Spherical robot
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
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::87c74fac21391185941fbdc48a9ba9a8 https://doi.org/10.1007/978-3-030-86294-7_35 Zobrazit plný text záznamu