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 …

Abstract Models of distributed dry friction are analysed. In constructing the models, it is
assumed that contact exists between the two bodies over a certain area, with Amonton …

This review presents a collection of the solved dynamic problems taking into account the
normal and shear stress distributions in the contact region due to the deformation of …

Background Traditionally used shimmy models assume vanishing slip at each point of a
roadwheel contact spot, at the same time the observed instable wheel motion observed at …

In this work we investigate the motion of a homogeneous ball rolling without slipping on
uniformly rotating horizontal and inclined planes under the action of a constant external …

With the growing use of mobile robots in home applications, e-commerce warehouses, and
so on it is necessary to pay attention to their object carrying capability for transferring objects …

The article describes the concept of a locomotive construction for a robot moving along an
urbanized or unstructured natural terrain. The most suitable variant was the development of …

We consider the dynamics of an absolutely rigid body moving along a rough horizontal
plane. We assume that the plane deforms during the motion so that the contact patch is non …

This article deals with the analysis of geometric deviations influence on in-pipe robot
locomotion, which uses the principle of friction difference principle. Bristles are as carrying …

This paper is concerned with the problem of a rigid body (tripod) moving with three points in
contact with a horizontal plane under the action of dry friction forces. It is shown that the …