This paper presents a survey on mobile robots as systems that can move in different
environments with walking, flying and swimming up to solutions that combine those …

So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated
complementarity Lagrangian systems, with a specific structure: an “object” and a “robot” …

In practical applications, an unmanned surface vehicle (USV) generally employs a task of
complete coverage path planning for exploration in a target area of interest. The biological …

This paper is concerned with free and controlled motions of a spherical robot of combined
type moving by displacing the center of mass and by changing the internal gyrostatic …

In this article, a dynamical model for controlling an omniwheel mobile robot is presented.
The proposed model is used to construct an algorithm for calculating control actions for …

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 …

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 article presents the development of a model of a spherical robot that rolls to move and
has a single point of support with the surface. The model was developed in the CoppeliaSim …

球形移动机器人(简称球形机器人) 是一种拥有球形外壳的全封闭机器人, 它通过质心偏移或者
动量守恒等原理来实现运动. 该类机器人具有良好的密封性, 平衡性强且运动灵活性高 …

This paper presents the design and implementation of a spherical robot with an internal
mechanism based on a pendulum. The design is based on significant improvements made …