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  1. Journal of Computer and Systems Sciences International
  2. Journal of Computer and Systems Sciences International : Volume 53
  3. Journal of Computer and Systems Sciences International : Volume 53, Issue 5, September 2014
  4. An insectomorphic robot climbing over 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 53, Issue 6, November 2014
Journal of Computer and Systems Sciences International : Volume 53, Issue 5, September 2014
Algorithms for the synthesis of observers for nonlinear dynamic systems
Control of resource-intensive computations under uncertainty. II. Scheduling complex
Method of characteristic functions for classes of networks with fixed node degrees
Synthesis of optimal discrete automaton-type systems in the case of multiple instantaneous switchings
Comparing various approaches to resource allocation in data centers
Graph approach to job assignment in distributed real-time systems
Multiagent approach to controlling distributed computing in a cluster Grid system
Dynamics of spacecraft with elastic and dissipative elements in the attitude control mode
An insectomorphic robot climbing over a freely rolling ball
Emotions and temperament of robots: Behavioral aspects
Robust stabilizing inventory control in supply networks under uncertainty of external demand and supply time-delays
Journal of Computer and Systems Sciences International : Volume 53, Issue 4, July 2014
Journal of Computer and Systems Sciences International : Volume 53, Issue 3, May 2014
Journal of Computer and Systems Sciences International : Volume 53, Issue 2, March 2014
Journal of Computer and Systems Sciences International : Volume 53, Issue 1, January 2014
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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An insectomorphic robot climbing over a freely rolling ball

Content Provider Springer Nature Link
Author Golubev, Yu. F. Koryav, V. V.
Copyright Year 2014
Abstract An algorithm for the control of an insectomorphic robot climbing over a ball that rolls freely on a horizontal plane is developed and tested using computer simulation. The proposed motion involves three maneuvers. First, the robot climbs the ball at rest from the horizontal surface. At the end of this maneuver, the ball gains an angular velocity due to errors in the execution of the programmed motion. The further motion of the robot is designed so as to reduce the velocity gained in the course of climbing to an acceptable level. The motion is completed by the maneuver of getting down to the supporting horizontal plane from the almost motionless ball. The robot motion is implemented using the Coulomb friction without any special devices. The asymptotic stability of the programmed motion of the system as a whole is ensured by a PD controller that implements the step cycles of the leg motions and the planned motion of the body. Results of 3D computer simulation of the robot motion are discussed. The model of the mechanical robot-ball system is formed using the Universal Mechanism program package; this model is described by an automatically derived system of differential equations that take into account the dynamics of all solid elements.
Starting Page 733
Ending Page 742
Page Count 10
File Format PDF
ISSN 10642307
Journal Journal of Computer and Systems Sciences International
Volume Number 53
Issue Number 5
e-ISSN 15556530
Language English
Publisher Pleiades Publishing
Publisher Date 2014-10-08
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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