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  1. Journal of Computer and Systems Sciences International
  2. Journal of Computer and Systems Sciences International : Volume 49
  3. Journal of Computer and Systems Sciences International : Volume 49, Issue 6, December 2010
  4. Insectomorphic robot climbing a freely rolling 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 49, Issue 6, December 2010
Interval arithmetic techniques for the design of controllers for nonlinear dynamical systems with applications in mechatronics. II
Sufficient algebraic conditions of parametric invariance of the output of a linear stationary system in the first approximation
Controllability of mechanical systems near a degeneration subset of nonholonomic constraints
Stability margins and robust stability
Optimal control of some hybrid systems
Control improvement method for impulsive systems
Special control regime in the problem of optimal turn of an axially symmetric spacecraft
Transformation of a mealy finite-state machine into a moore finite-state machine by splitting internal states
Robustness of a discrete dynamical process with a given set of attainability
Calculating the best dual bound for problems with multiple Lagrangian relaxations
Vertical coalitions in hierarchical three-level control systems of fan-like structure
Computer simulation systems for development of knowledge bases of onboard online intelligent systems of system-generating core of anthropocentric object
Control of intelligent systems
Fuzzy algorithmic simulation of reliability: Control and correction resource optimization
Decision making algorithms in the problem of object selection in images of ground scenes
Automation of mutual orientation of digital images based on computer vision algorithms
A variant of visual correction in the problem of spacecraft navigation
Injection engine as a control object. II. Problems of automatic control of the engine
Insectomorphic robot climbing a freely rolling ball
Journal of Computer and Systems Sciences International : Volume 49, Issue 5, October 2010
Journal of Computer and Systems Sciences International : Volume 49, Issue 4, August 2010
Journal of Computer and Systems Sciences International : Volume 49, Issue 3, June 2010
Journal of Computer and Systems Sciences International : Volume 49, Issue 2, April 2010
Journal of Computer and Systems Sciences International : Volume 49, Issue 1, February 2010
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 climbing a freely rolling ball

Content Provider Springer Nature Link
Author Golubev, Yu. F. Koryav, V. V.
Copyright Year 2010
Abstract The problem of control of autonomous motion of a six-legged robot from a support horizontal plane to a ball that can freely move on this plane in an arbitrary direction is solved. Further robot motion aimed at acceleration or deceleration of the ball both in the direction of the longitudinal axis of its body and in the transverse direction ensuring dynamic stability of the robot on the ball is synthesized. Analytical conditions of implementability of the maneuver of climbing a ball are found. Formulas for estimating the maximum ball radius for which climbing of the robot is possible are obtained. Using the developed control algorithms, the robot can climb the ball and, staying on it, move the ball to the desired position in the plane. Robot motion is performed owing to the dry friction forces. Asymptotic stability of the programmed motion of the whole system is provided by a PD controller, which implements necessary step cycles of legs motion and the planned law of body motion. Results of 3D computer simulation of the controlled robot dynamics are discussed.
Starting Page 1009
Ending Page 1019
Page Count 11
File Format PDF
ISSN 10642307
Journal Journal of Computer and Systems Sciences International
Volume Number 49
Issue Number 6
e-ISSN 15556530
Language English
Publisher SP MAIK Nauka/Interperiodica
Publisher Date 2010-12-23
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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