Geodesic
Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot
Russian journal of nonlinear dynamics, Tome 15 (2019) no. 4, pp. 611-622

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In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.
Keywords: inverse dynamics, motion planning, spherical robots, fluid actuator. 
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     author = {S. A. Tafrishi and Y. Bai and M. Svinin and E. Esmaeilzadeh and M. Yamamoto},
     title = {Inverse {Dynamics-Based} {Motion} {Control} of a {Fluid-Actuated} {Rolling} {Robot}},
     journal = {Russian journal of nonlinear dynamics},
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     url = {http://geodesic.mathdoc.fr/item/ND_2019_15_4_a20/}
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S. A. Tafrishi; Y. Bai; M. Svinin; E. Esmaeilzadeh; M. Yamamoto. Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot. Russian journal of nonlinear dynamics, Tome 15 (2019) no. 4, pp. 611-622. http://geodesic.mathdoc.fr/item/ND_2019_15_4_a20/