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 …

This paper is concerned with the problem of optimal path planning for a mobile wheeled
robot. Euler elasticas, which ensure minimization of control actions, are considered as …

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 …

Omnidirectional mobile robots known for their maneuverability are used in many areas of the
human activity [22]. The most common are the models of three or four-wheeled mobile …

The motion of a spherical robot with periodically changing moments of inertia, internal rotors
and a displaced center of mass is considered. It is shown that, under some restrictions on …

Классическая задача Суслова о движении твердого тела с неподвижной точкой
достаточно известна и подробно исследована. В данной работе предлагается …

This paper describes the design of the underwater robot which is moved by rotating the
internal rotor. The design of the robot is described. A finite-dimensional mathematical model …

В работе рассматривается безвинтовой робот, перемещающийся по поверхности
жидкости за счет вращения внутреннего ротора. Корпус робота в сечении имеет …

The paper presents the results of the experimental investigations of various mechanical and
robotic systems. Due to the verification of the motion of simple systems, such as a rolling disk …