Rolling Resistance Model and Control of Spherical Robot

被引：1
作者：
Kilin, Alexander A. [1 ]
Karavaev, Yury L. [2 ]
Ivanova, Tatiana B. [1 ]
机构：
[1] Udmurt State Univ, Izhevsk 426034, Russia
[2] Kalashnikov Izhevsk State Tech Univ, Izhevsk 426069, Russia
来源：
ROBOTICS FOR SUSTAINABLE FUTURE, CLAWAR 2021 | 2022年 / 324卷
关键词：
Spherical robot; Control; Nonholonomic constraint; Rolling resistance; DYNAMICS;
D O I：
10.1007/978-3-030-86294-7_35
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The paper presents the model of rolling resistance and the application of this model for the control of a pendulum actuated spherical robot on a horizontal plane. Control actions are derived in the form of maneuvers (gaits) which ensure the transition between two steady motions of the system. The experiments confirming the applicability of the model of viscous rolling friction and a method for determining coefficients of rolling resistance from experimental data are presented.
引用
收藏
页码：396 / 407
页数：12
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