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  1. Journal of Computer and Systems Sciences International
  2. Journal of Computer and Systems Sciences International : Volume 48
  3. Journal of Computer and Systems Sciences International : Volume 48, Issue 5, October 2009
  4. Motion control for an insectomorphic robot on a movable ball
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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 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 48, Issue 6, December 2009
Journal of Computer and Systems Sciences International : Volume 48, Issue 5, October 2009
Arik Artavazdovich Melikyan (5.10.1944–6.04.2009)
Estimation of the domain of attraction for nonlinear systems
On one algorithm of input action reconstruction for linear systems
Synthesis of algorithms of a stereoscopic system for navigation, guiding, and remote sensing of terrain
Dissipative stochastic differential systems with risk-sensitive storage function and control design problems
Decomposition representations of logical equations in problems of inversion of discrete functions
An accelerated procedure for solving binary optimization problems
On the equilibrium in bargaining model with arbitrator
The choice of a method for processing the matrix of paired comparisons according to simplicity and accuracy Criteria
Basic algorithmic shell of onboard real-time advisory expert systems for operation situations typical for an object
A model of fuzzy coalition games in problems of configuring open supply networks
A laboratory facility for verification of control algorithms for a group of satellites
Method and calculation of basic parameters of different types of control servoactuators using minimal installed power criterion
Motion control for an insectomorphic robot on a movable ball
Guaranteed search of a target object by an electromechanical system with minimal light power inputs
Application of decomposition methods in optimization
The investigation of the population dynamics control problems based on the generalized Kolmogorov model
Journal of Computer and Systems Sciences International : Volume 48, Issue 4, August 2009
Journal of Computer and Systems Sciences International : Volume 48, Issue 3, June 2009
Journal of Computer and Systems Sciences International : Volume 48, Issue 2, April 2009
Journal of Computer and Systems Sciences International : Volume 48, Issue 1, February 2009
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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Motion control for an insectomorphic robot on a movable ball

Content Provider Springer Nature Link
Author Golubev, Yu. F. Koryav, V. V.
Copyright Year 2009
Abstract The problem of motion design of a six-legged robot with the help of a ball rolling on a horizontal support plane is investigated. The robot motion is synthesized in order to accelerate or decelerate the ball in the direction of the longitudinal axis of the body and to provide a dynamic stability of the robot on the ball. It is executed with the help of dry friction forces. The motion of the body and legs is executed by imposing servoconstraints in the form of adaptive step cycles of legs and the required geometrical structure of body motion. Asymptotically stable program motion of legs with respect to the body and the entire system is provided by a PD-controller. The results of 3D computer simulation of the controlled robot dynamics are presented.
Starting Page 801
Ending Page 813
Page Count 13
File Format PDF
ISSN 10642307
Journal Journal of Computer and Systems Sciences International
Volume Number 48
Issue Number 5
e-ISSN 15556530
Language English
Publisher SP MAIK Nauka/Interperiodica
Publisher Date 2009-10-22
Publisher Place Dordrecht
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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