Geodesic
Experimental research of dynamic of spherical robot of combined type
Russian journal of nonlinear dynamics, Tome 11 (2015) no. 4, pp. 721-734.

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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. 
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A. A. Kilin; Yu. L. Karavaev. Experimental research of dynamic of spherical robot of combined type. Russian journal of nonlinear dynamics, Tome 11 (2015) no. 4, pp. 721-734. http://geodesic.mathdoc.fr/item/ND_2015_11_4_a6/

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