This paper deals with the problem of a spherical robot propelled by an internal omniwheel
platform and rolling without slipping on a plane. The problem of control of spherical robot …

A nonholonomic model of the dynamics of an omniwheel vehicle on a plane and a sphere is
considered. A derivation of equations is presented and the dynamics of a free system are …

The object of the study is the mobile platform of the KUKA youBot robot equipped with four
Mecanum wheels. The ideal conditions for the point contact of the wheels and the floor are …

The subject of this study is an omnidirectional mobile platform equipped with four Mecanum
wheels. The movement of the system on a horizontal plane is considered. The aim of this …

This paper describes the existing designs of spherical robots and reviews studies devoted to
investigating their dynamics and to developing algorithms for controlling them. An analysis is …

In this paper, the trajectory tracking control problem of a mobile robot with four omni wheels
is considered. The robot moves on a horizontal surface when the wheels slip. A dynamic …

The study of various celestial bodies is of great interest at the present time. Soil studies are
being conducted. Vibrating robots could be possible tools for implementing the missions …

This study investigates the rolling along the horizontal plane of two coupled rigid bodies: a
spherical shell and a dynamically asymmetric rigid body which rotates around the geometric …

Wheeled mobile robots represent an important part in the industrial automation and social
area. In recent years, intensive research in constructing controllers for wheeled mobile …

Обсуждается динамика уравновешенного тела сферической формы на шероховатой
плоскости, управляемого при помощи движения встроенной оболочки. Последняя …