Geodesic
The Dynamics of a Spherical Robot of Combined Type by Periodic Control Actions
Russian journal of nonlinear dynamics, Tome 15 (2019) no. 4, pp. 497-504.

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This paper presents the results of the study of the dynamics of a real spherical robot of combined type in the case of control using small periodic oscillations. The spherical robot is set in motion by controlled change of the position of the center of mass and by generating variable gyrostatic momentum. We demonstrate how to use small periodic controls for stabilization of the spherical robot during motion. The results of numerical simulation are obtained for various initial conditions and control parameters that ensure a change in the position of the center of mass and a variation of gyrostatic momentum. The problem of the motion of a spherical robot of combined type on a surface that performs flat periodic oscillations is also considered. The results of numerical simulation are obtained for different initial conditions, control actions and parameters of oscillations.
Keywords: spherical robot, nonholonomic constraint, small periodic control actions, stabilization. 
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Yu. L. Karavaev; A. A. Kilin. The Dynamics of a Spherical Robot of Combined Type by Periodic Control Actions. Russian journal of nonlinear dynamics, Tome 15 (2019) no. 4, pp. 497-504. http://geodesic.mathdoc.fr/item/ND_2019_15_4_a8/

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