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  1. Journal of Computer and Systems Sciences International
  2. Journal of Computer and Systems Sciences International : Volume 55
  3. Journal of Computer and Systems Sciences International : Volume 55, Issue 1, January 2016
  4. Insectomorphic robot maneuvering on freely rolling balls
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Journal of Computer and Systems Sciences International : Volume 56
Journal of Computer and Systems Sciences International : Volume 55
Journal of Computer and Systems Sciences International : Volume 55, Issue 6, November 2016
Journal of Computer and Systems Sciences International : Volume 55, Issue 5, September 2016
Journal of Computer and Systems Sciences International : Volume 55, Issue 4, July 2016
Journal of Computer and Systems Sciences International : Volume 55, Issue 3, May 2016
Journal of Computer and Systems Sciences International : Volume 55, Issue 2, March 2016
Journal of Computer and Systems Sciences International : Volume 55, Issue 1, January 2016
Optimal and suboptimal control over bunches of trajectories of automaton-type deterministic systems
Maximum divergences and resonance phenomena in delay controlled systems
Finite-dimensional recurrent algorithms for optimal nonlinear logical–dynamical filtering
Control of M|M|1|N queue parameters under constraints
Inductive inference and argumentation methods in modern intelligent decision support systems
Categorization of text documents taking into account some structural features
Text sentiment classification based on a genetic algorithm and word and document co-clustering
Disturbance compensation in electric generator network control
Insectomorphic robot maneuvering on freely rolling balls
Synthesis of linear postcompensators for signal processing of nonlinear systems of a special form
Algorithms of increasing the calculation accuracy for an aircraft’s orientation angle
Journal of Computer and Systems Sciences International : Volume 54
Journal of Computer and Systems Sciences International : Volume 53
Journal of Computer and Systems Sciences International : Volume 52
Journal of Computer and Systems Sciences International : Volume 51
Journal of Computer and Systems Sciences International : Volume 50
Journal of Computer and Systems Sciences International : Volume 49
Journal of Computer and Systems Sciences International : Volume 48
Journal of Computer and Systems Sciences International : Volume 47
Journal of Computer and Systems Sciences International : Volume 46
Journal of Computer and Systems Sciences International : Volume 45

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Insectomorphic robot maneuvering on freely rolling balls

Content Provider Springer Nature Link
Author Golubev, Yu. F. Koryav, V. V.
Copyright Year 2016
Abstract The influence of the position of the center of mass of a multilegged robot that moves along the surface of a freely rolling ball on the direction of rolling of this ball over a horizontal plane is studied. The case when the center of mass of this robot is shifted (in the plane that is perpendicular to the velocity vector) from the vertical axis that goes through the ball center is analyzed. Approximation formulas that allow one to estimate the radius of curvature of the trajectory of the center of a ball during turn are obtained under certain simplifying assumptions. It is found that a shift of the center of mass from the vertical axis that goes through the ball center inevitably produces a certain spin of the ball about this axis, complicating the task of maneuvering on this ball. The problem of insectomorphic robot maneuvering with two freely rolling balls on a horizontal plane is solved in the model formulation. The problem consists in moving a robot from a horizontal plane over to a movable ball, rolling this ball close to another free ball, and making the robot climb from the first ball to the second one and then back to the horizontal plane. The difficulty is that the mechanical system under consideration is highly unstable and is thus strongly influenced by execution errors. It is demonstrated constructively that the problem of the indicated interaction between a robot and two balls is fundamentally solvable, and a model robot is able to perform this task, although it is forced to shift its center of mass from the vertical axis in the process.
Starting Page 125
Ending Page 137
Page Count 13
File Format PDF
ISSN 10642307
Journal Journal of Computer and Systems Sciences International
Volume Number 55
Issue Number 1
e-ISSN 15556530
Language English
Publisher Pleiades Publishing
Publisher Date 2016-03-23
Publisher Place Moscow
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Control, Robotics, Mechatronics
Content Type Text
Resource Type Article
Subject Applied Mathematics Theoretical Computer Science Computer Networks and Communications Control and Systems Engineering Information Systems Computer Vision and Pattern Recognition Software
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