Please wait, while we are loading the content...
Please wait, while we are loading the content...
| 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 | |
| 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 |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|