Geodesic
The dynamic of a spherical robot with an internal omniwheel platform
Russian journal of nonlinear dynamics, Tome 11 (2015) no. 1, pp. 187-204.

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The dynamic model for a spherical robot with an internal omniwheel platform is presented. Equations of motion and first integrals according to the non-holonomic model are given. We consider particular solutions and their stability. The algorithm of control of spherical robot for movement along a given trajectory are presented.
Keywords: spherical robot, dynamical model, non-holonomic constraint, omniwheel, stability. 
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Yury L. Karavaev; Alexander A. Kilin. The dynamic of a spherical robot with an internal omniwheel platform. Russian journal of nonlinear dynamics, Tome 11 (2015) no. 1, pp. 187-204. http://geodesic.mathdoc.fr/item/ND_2015_11_1_a10/

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