Geodesic
On the control of a robot-ball using two omni-wheels
Russian journal of nonlinear dynamics, Tome 11 (2015) no. 2, pp. 319-327.

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We discuss the dynamics of balanced body of spherical shape on a rough plane, managed by the movement of the built-in shell. These two shells are set in relative motion due to rotation of the two symmetrical omni-wheels. It is shown that the ball can be moved to any point on the plane along a straight or (in the case of the initial degeneration) polygonal line. Moreover, any prescribed curvilinear trajectory of the ball center can be followed by appropriate control strategy as far as the diameter, connecting both wheels, is non-vertical.
Keywords: robot-ball, omni-wheel, control of motion. 
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A. P. Ivanov. On the control of a robot-ball using two omni-wheels. Russian journal of nonlinear dynamics, Tome 11 (2015) no. 2, pp. 319-327. http://geodesic.mathdoc.fr/item/ND_2015_11_2_a7/

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