Geodesic
Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments
Informatics and Automation, Modern problems of mechanics, Tome 295 (2016), pp. 174-183 
Yu. L. Karavaev; A. A. Kilin. Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments. Informatics and Automation, Modern problems of mechanics, Tome 295 (2016), pp. 174-183. http://geodesic.mathdoc.fr/item/TRSPY_2016_295_a8/
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     author = {Yu. L. Karavaev and A. A. Kilin},
     title = {Nonholonomic dynamics and control of a~spherical robot with an internal omniwheel platform: theory and experiments},
     journal = {Informatics and Automation},
     pages = {174--183},
     year = {2016},
     volume = {295},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TRSPY_2016_295_a8/}
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Voir la notice de l'article provenant de la source Math-Net.Ru

We present the results of theoretical and experimental investigations of the motion of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed inside the robot. The control of the spherical robot is based on a dynamic model in the nonholonomic statement expressed as equations of motion in quasivelocities with indeterminate coefficients. A number of experiments have been carried out that confirm the adequacy of the dynamic model proposed.

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