The paper is concerned with the problem of stabilizing a spherical robot of combined type
during its motion. The focus is on the application of feedback for stabilization of the robot …

In this paper, we develop a model of a controlled spherical robot with an axisymmetric
pendulum-type actuator with a feedback system suppressing the pendulum's oscillations at …

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 …

In this paper, we develop a model of a controlled spherical robot of combined type moving
by displacing the center of mass and by changing the internal gyrostatic momentum, with a …

We investigate the model of controlled motion of a pendulum-actuated spherical robot on a
horizontal plane, taking rolling resistance into account. We derive equations of motion and …

A spherical robot (robot ball) whose internal mechanism contains a platform resting with its
edges on the inner surface of the sphere is considered. A fork is attached to the platform …

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 …

This paper presents the results of the study of the dynamics of a real spherical robot of
combined type in the case of control using small periodic oscillations. The spherical robot is …

The work investigates the experimental problem of reparking trailer for a wheeled robot with
a trailer. The geometric model with kinematic constraints leads to the sub-Riemannian …