This paper is concerned with the motion of an aquatic robot whose body has the form of a
sharp-edged foil. The robot is propelled by rotating the internal rotor without shell deformation.
The motion of the robot is described by a finite-dimensional mathematical model
derived from physical considerations. This model takes into account the effect of added
masses and viscous friction. The parameters of the model are calculated from comparison
of experimental data and numerical solution to the equations of rigid body motion and the
Navier–Stokes equations. The proposed mathematical model is used to define controls
implementing straight-line motion, motion in a circle, and motion along a complex trajectory.
Experiments for estimation of the efficiency of the model have been conducted.
Keywords:
aquatic robot, propulsion in a fluid, periodic control action, motion planning, identification of parameters of the model
Citation:
Karavaev Y. L., Klekovkin A. V., Mamaev I. S., Tenenev V. A., Vetchanin E. V., A Simple Physical Model for Control of an Propellerless Aquatic Robot, Journal of Mechanisms and Robotics, 2022, vol. 14, no. 1, 011007, 11 pp.
Rolling Resistance Model and Control of Spherical Robot Climbing and Walking Robots Conference: Robotics for Sustainable Future, CLAWAR 2021, 2022, pp. 396-407
The paper presents the model of rolling resistance and the
application of this model for the control of a pendulum actuated spherical
robot on a horizontal plane. Control actions are derived in the form
of maneuvers (gaits) which ensure the transition between two steady
motions of the system. The experiments confirming the applicability of
the model of viscous rolling friction and a method for determining coefficients
of rolling resistance from experimental data are presented.
Keywords:
Spherical robot, Control, Nonholonomic constraint, Rolling resistance
Citation:
Kilin A. A., Karavaev Y. L., Ivanova T. B., Rolling Resistance Model and Control of Spherical Robot, Climbing and Walking Robots Conference: Robotics for Sustainable Future, CLAWAR 2021, 2022, pp. 396-407
Experimental Investigations of the Controlled Motion of the Roller Racer Robot Climbing and Walking Robots Conference: Robotics for Sustainable Future, CLAWAR 2021, 2022, pp. 428-437
In this paper we presents the results of experimental investigations
and simulations of the motion of the Roller Racer. We assume
that the angle $\varphi(t)$ between the platforms is a prescribed function of
time and that the no-slip condition (nonholonomic constraint) and viscous
friction force act at the points of contact of the wheels. The results
of theoretical and experimental investigations are compared for various
values of the parameters of the control action and design parameters of
mobile robot.
Kilin A. A., Karavaev Y. L., Yefremov K. S., Experimental Investigations of the Controlled Motion of the Roller Racer Robot, Climbing and Walking Robots Conference: Robotics for Sustainable Future, CLAWAR 2021, 2022, pp. 428-437
We investigate the model of controlledmotion of a pendulum-actuated spherical robot on a horizontal
plane, taking rolling resistance into account. We derive equations of motion and obtain partial steady-state
solutions.We present algorithms for designing elementary maneuvers (gaits) which ensure transition between
two steady motions of the system. These gaits correspond to the acceleration along a straight line and to the
turn through a given angle.
Keywords:
spherical robot, control, nonholonomic constraint, rolling resistance, gait, steady-state solutions
Citation:
Ivanova T. B., Karavaev Y. L., Kilin A. A., Control of a pendulum-actuated spherical robot on a horizontal plane with rolling resistance, Archive of Applied Mechanics, 2022, vol. 92, pp. 137–150
In this paper we present a study of the dynamics of a mobile robot with omnidirectional
wheels taking into account the reaction forces acting from the plane. The dynamical equations
are obtained in the form of Newton – Euler equations. In the course of the study, we formulate
structural restrictions on the position and orientation of the omnidirectional wheels and their
rollers taking into account the possibility of implementing the omnidirectional motion. We
obtain the dependence of reaction forces acting on the wheel from the supporting surface on the
parameters defining the trajectory of motion: linear and angular velocities and accelerations,
and the curvature of the trajectory of motion. A striking feature of the system considered is that
the results obtained can be formulated in terms of elementary geometry.
Keywords:
omnidirectional mobile robot, reaction force, simulation, nonholonomic model
Citation:
Mamaev I. S., Kilin A. A., Karavaev Y. L., Shestakov V. A., Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot, Russian Journal of Nonlinear Dynamics, 2021, vol. 17, no. 4, pp. 527-546
Influence of the design features of omni-wheeled mobile robots on the possibility of motion without slipping 2021 International Conference ''Nonlinearity, Information and Robotics'' – IEEE, 2021, pp. 1-4
In this paper, the object of study is a highly maneuverable mobile robot with omni wheels. The paper presents the investigation of the dynamics of omni wheels as part of a mobile platform. The design of a mobile platform with omni wheels is analyzed, taking into account the dynamics of an individual wheel as a part of a mobile platform. The equations of dynamics are presented in the form of Lagrange equations of the second kind with undetermined multipliers. As a result, several conditions of design constraints were identified, under which the omnidirectional motion of the mobile platform is impossible.
Keywords:
omnidirectional mobile robot, reaction force, simulation, nonholonomic model
Citation:
Shestakov V. A., Mamaev I. S., Karavaev Y. L., Influence of the design features of omni-wheeled mobile robots on the possibility of motion without slipping, 2021 International Conference ''Nonlinearity, Information and Robotics'' – IEEE, 2021, pp. 1-4
Design and control for the underwater robot with internal rotor 2021 International Conference ''Nonlinearity, Information and Robotics'' – IEEE, 2021, pp. 1-5
This paper describes the design of the underwater robot which is moved by rotating the internal rotor. The design of the robot is described. A finite-dimensional mathematical model describing the robot’s motion is presented. The study of the derived equations of motion is carried out, the influence of the parameters of the control action on the mode of the robot motion is considered.
Keywords:
mobile robot, aquatic robot, motion simulation
Citation:
Klekovkin A. V., Karavaev Y. L., Mamaev I. S., Design and control for the underwater robot with internal rotor, 2021 International Conference ''Nonlinearity, Information and Robotics'' – IEEE, 2021, pp. 1-5
Dynamics of a Spherical Robot with Variable Moments of Inertia and a Displaced Center of Mass Regular and Chaotic Dynamics, 2020, vol. 25, no. 6, pp. 689-706
The motion of a spherical robot with periodically changing moments of inertia,
internal rotors and a displaced center of mass is considered. It is shown that, under some
restrictions on the displacement of the center of mass, the system of interest features chaotic
dynamics due to separatrix splitting. A stability analysis is made of the upper equilibrium
point of the ball and of the periodic solution arising in its neighborhood, in the case of periodic
rotation of the rotors. It is shown that the lower equilibrium point can become unstable in the
case of fixed rotors and periodically changing moments of inertia.
Keywords:
nonholonomic constraint, rubber rolling, unbalanced ball, rolling on a plane
Citation:
Artemova E. M., Karavaev Y. L., Mamaev I. S., Vetchanin E. V., Dynamics of a Spherical Robot with Variable Moments of Inertia and a Displaced Center of Mass, Regular and Chaotic Dynamics, 2020, vol. 25, no. 6, pp. 689-706
The paper is focused to design, simulation and modeling of the compact compliant structures
widely used in construction of robotic devices. As the illustrative example it is proposed
mechanism for reduction of motion, which enables to improve the accuracy of the positioning
system. The physical model is fabricated by 3D printing technology. Its proposed performance
characteristics are verified by measurement on the experimental test bed by using laser distance
sensors and image sensing/processing technology.
Keywords:
compact compliant mechanisms, 3D printing, modeling and simulation, HIL simulations Received
Citation:
Hricko J., Havlík Š., Karavaev Y. L., Verifying the Performance Characteristics of the (micro) Robotic Devices, Russian Journal of Nonlinear Dynamics, 2020, vol. 16, no. 1, pp. 161-172
This article is concerned with developing an intelligent system for the control of a wheeled robot. An algorithm for
training an artificial neural network for path planning is proposed. The trajectory ensures steering optimal motion from
the current position of the mobile robot to a prescribed position taking its orientation into account. The proposed
control system consists of two artificial neural networks. One of them serves to specify the position and the size of the
obstacle, and the other forms a continuous trajectory to reach it, taking into account the information received, the
coordinates, and the orientation at the point of destination. The neural network is trained on the basis of samples
obtained by modeling the equations of motion of the wheeled robot which ensure its motion along trajectories in the form
of Euler’s elastica.
Keywords:
Wheeled mobile robots, robust, adaptive and optimal control, collision avoidance and multi-vehicle systems, path planning and navigation, robot learning
Citation:
Bozek P., Karavaev Y. L., Ardentov A. A., Yefremov K. S., Neural network control of a wheeled mobile robot based on optimal trajectories, International Journal of Advanced Robotic Systems, 2020, pp. 1-10
Spherical rolling robots: Different designs and control algorithms Robots in Human Life: Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020, 2020, pp. 195-202
This paper presents a review of papers devoted to the creation and investigation of spherical robots. Owing to their structural features, namely, geometric symmetry and resistance of actuating mechanisms and elements of the control system against aggressive environmental conditions, robotic systems of this type have a high potential of being used in problems of monitoring, reconnaissance, and transportation on Earth and other planets. A detailed description is given of the structures of prototypes of spherical robots which use different actuation principles: a spherical robot with an internal pendulum mechanism, a spherical robot with an internal omniwheel platform, a spherical robot with internal rotors, and a spherical robot of combined type. Experimental results are presented to give an estimate of the possibility and efficiency of controlled motion. The applied use of spherical robots depending on the type of the actuating mechanism is discussed.
Citation:
Karavaev Y. L., Mamaev I. S., Kilin A. A., Pivovarova E. N., Spherical rolling robots: Different designs and control algorithms, Robots in Human Life: Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020, 2020, pp. 195-202
Propellerless aquatic robots Robots in Human Life: Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020, 2020, pp. 404-411
This paper is devoted to investigations of the motion of the propellerless aquatic robots. There are two models of aquatic robots under consideration that move due to rotation of internal rotors. Mathematical models to describe the motion of the robots are proposed. Experiments with different control actions for fabricated prototypes to verify mathematical models have been conducted.
Citation:
Klekovkin A. V., Mamaev I. S., Vetchanin E. V., Tenenev V. A., Karavaev Y. L., Propellerless aquatic robots, Robots in Human Life: Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020, 2020, pp. 404-411
Controlled motion of a highly maneuverable mobile robot along curvilinear trajectories 2020 International Conference Nonlinearity, Information and Robotics – IEEE, 2020, pp. 1-4
This paper presents the control algorithm of an omnidirectional mobile robot to implement motion along curvilinear trajectories. The trajectory is defined by the Bezier curves of the third order. An algorithm is proposed to generate control actions for the robot’s motion along a given curvilinear trajectory, taking into account the processes of acceleration and deceleration. The experimental results confirm the applicability of the proposed method.
Keywords:
omnidirectional mobile robot, Bezier curves, kinematics, modeling, omnidirectional motion, nonholonomic model
Citation:
Shestakov V. A., Mamaev I. S., Karavaev Y. L., Controlled motion of a highly maneuverable mobile robot along curvilinear trajectories, 2020 International Conference Nonlinearity, Information and Robotics – IEEE, 2020, pp. 1-4
Stabilization of a spherical robot rolling on an oscillating underlying surface 2020 International Conference Nonlinearity, Information and Robotics – IEEE, 2020, pp. 1-2
This paper is devoted to investigations of a spherical robot rolling on an oscillating underlying surface. The model of spherical robot of combined type is considered. Based on analysis of equations of motion taking into account the oscillation of the underlying surface, a control algorithm for stabilization of the spherical robot is proposed. The influences of oscillations in horizontal and vertical directions are evaluated. The design of the spherical robot and its control system for fabrication of a prototype are described.
Keywords:
spherical robot, nonholonomic model, oscillations of the underlying surface, feedback
Citation:
Karavaev Y. L., Kilin A. A., Klekovkin A. V., Pivovarova E. N., Stabilization of a spherical robot rolling on an oscillating underlying surface, 2020 International Conference Nonlinearity, Information and Robotics – IEEE, 2020, pp. 1-2
Theoretical and experimental investigations of the controlled motion of the Roller Racer 2020 International Conference Nonlinearity, Information and Robotics – IEEE, 2020, pp. 1-5
In this paper we address the problem of the motion of the Roller Racer. We assume that the angle φ(t) between the platforms is a prescribed function of time and that the no-slip condition (nonholonomic constraint) and viscous friction force act at the points of contact of the wheels. In this case, all trajectories of the reduced system asymptotically tend to a periodic solution. In this paper it is shown analytically and experimentally that the chosen control defines periodic trajectories of the attachment point of the platforms on an average along a straight line. We determine the conditions for optimal control when the system moves along a straight line depending on the mass and geometric characteristics of the system and control parameters.
Yefremov K. S., Ivanova T. B., Kilin A. A., Karavaev Y. L., Theoretical and experimental investigations of the controlled motion of the Roller Racer, 2020 International Conference Nonlinearity, Information and Robotics – IEEE, 2020, pp. 1-5
Experimental evaluation of simplified physical model for control of aquatic robot with internal rotor 2020 International Conference Nonlinearity, Information and Robotics – IEEE, 2020, pp. 1-2
This paper is devoted to investigations of the motion of an aquatic propeller-less robot. The robot motion implemented by rotation of internal rotor. A simple finite-dimensional mathematical model to describe the motion of the robot is proposed. Experiments with control actions providing the motion along a straight line and a circle have been conducted.
Citation:
Klekovkin A. V., Karavaev Y. L., Mamaev I. S., Vetchanin E. V., Tenenev V. A., Experimental evaluation of simplified physical model for control of aquatic robot with internal rotor, 2020 International Conference Nonlinearity, Information and Robotics – IEEE, 2020, pp. 1-2
Euler Elasticas for Optimal Control of the Motion of Mobile Wheeled Robots: the Problem of Experimental Realization Regular and Chaotic Dynamics, 2019, vol. 24, no. 3, pp. 312-328
This paper is concerned with the problem of optimal path planning for a mobile wheeled robot. Euler elasticas, which ensure minimization of control actions, are considered as optimal trajectories. An algorithm for constructing controls that realizes the motion along the trajectory in the form of an Euler elastica is presented. Problems and special features of the application of this algorithm in practice are discussed. In particular, analysis is made of speedup and deceleration along the elastica, and of the influence of the errors made in manufacturing the mobile robot on the precision with which the prescribed trajectory is followed. Special attention is also given to the problem of forming optimal trajectories of motion along Euler elasticas to a preset point at different angles of orientation. Results of experimental investigations are presented.
Keywords:
mobile wheeled robot, Euler’s elastica, optimal control, experimental investigations
Citation:
Ardentov A. A., Karavaev Y. L., Yefremov K. S., Euler Elasticas for Optimal Control of the Motion of Mobile Wheeled Robots: the Problem of Experimental Realization, Regular and Chaotic Dynamics, 2019, vol. 24, no. 3, pp. 312-328
The Dynamics of a Spherical Robot of Combined Type by Periodic Control Actions Russian Journal of Nonlinear Dynamics, 2019, vol. 15, no. 4, pp. 497-504
This paper presents the results of the study of the dynamics of a real spherical robot of
combined type in the case of control using small periodic oscillations. The spherical robot is set
in motion by controlled change of the position of the center of mass and by generating variable
gyrostatic momentum. We demonstrate how to use small periodic controls for stabilization of
the spherical robot during motion. The results of numerical simulation are obtained for various
initial conditions and control parameters that ensure a change in the position of the center of
mass and a variation of gyrostatic momentum. The problem of the motion of a spherical robot
of combined type on a surface that performs flat periodic oscillations is also considered. The
results of numerical simulation are obtained for different initial conditions, control actions and
parameters of oscillations.
Keywords:
spherical robot, nonholonomic constraint, small periodic control actions, stabilization
Citation:
Karavaev Y. L., Kilin A. A., The Dynamics of a Spherical Robot of Combined Type by Periodic Control Actions, Russian Journal of Nonlinear Dynamics, 2019, vol. 15, no. 4, pp. 497-504
Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot Russian Journal of Nonlinear Dynamics, 2019, vol. 15, no. 4, pp. 487-495
This paper presents experimental investigations of the control algorithm of a highly maneuverable
mobile manipulation robot. The kinematics of a mobile manipulation robot, the
algorithm of trajectory planning of the mobile robot to the point of object gripping are considered.
By realization of the algorithm, the following tasks are solved: solution of the inverse
positional task for the mobile manipulation robot; motion planning of the mobile manipulator
taking into account the minimization of energy and time consumption per movement. The result
of the algorithm is a movement to the point of gripping of the manipulation object; grasping
and loading of the object. Experimental investigations of the developed algorithms are given.
Keywords:
mobile manipulation robot, motion planning, trajectory discretization, Kinect
Citation:
Karavaev Y. L., Shestakov V. A., Yefremov K. S., Experimental Investigations of the Control Algorithm of a Mobile Manipulation Robot, Russian Journal of Nonlinear Dynamics, 2019, vol. 15, no. 4, pp. 487-495
The paper is concerned with the problem of stabilizing a spherical robot of combined type during its motion. The focus is on the application of feedback for stabilization of the robot which is an example of an underactuated system. The robot is set in motion by an inter- nal wheeled platform with a rotor placed inside the sphere. The results of experimental investigations for a prototype of the spherical robot are presented.
Borisov A. V., Kilin A. A., Karavaev Y. L., Klekovkin A. V., Stabilization of the motion of a spherical robot using feedbacks, Applied Mathematical Modelling, 2019, vol. 69, pp. 583-592
Theoretical and experimental investigations of the rolling of a ball on a rotating plane (turntable) European Journal of Physics, 2018, vol. 39, no. 6, 065001, 13 pp.
In this work we investigate the motion of a homogeneous ball rolling without slipping on uniformly rotating horizontal and inclined planes under the action of a constant external force supplemented with the moment of rolling friction, which depends linearly on the angular velocity of the ball. We systematise well-known results and supplement them with the stability analysis of partial solutions of the system. We also perform an experimental investigation whose results support the adequacy of the rolling friction model used. Comparison of numerical and experimental results has shown a good qualitative agreement.
Keywords:
rolling, rotating surface, tilted turntable, non-holonomic constraint, rolling ball, rolling friction, qualitative analysis
Citation:
Borisov A. V., Ivanova T. B., Karavaev Y. L., Mamaev I. S., Theoretical and experimental investigations of the rolling of a ball on a rotating plane (turntable), European Journal of Physics, 2018, vol. 39, no. 6, 065001, 13 pp.
This paper presents results of theoretical and experi-
mental research explaining the retrograde final-stage rolling of
a disk under certain relations between its mass and geometric
parameters. Modifying the no-slip model of a rolling disk by
including viscous rolling friction provides a qualitative explana-
tion for the disk's retrograde motion. At the same time, the
simple experiments described in the paper completely reject
the aerodynamical drag torque as a key reason for the retro-
grade motion of a disk considered, thus disproving some recent
hypotheses.
Keywords:
retrograde turn, rolling disk, nonholonomic model, rolling friction
Citation:
Borisov A. V., Kilin A. A., Karavaev Y. L., Retrograde motion of a rolling disk, Physics-Uspekhi, 2017, vol. 60, no. 9, pp. 931-934
The dynamical model of the rolling friction of spherical bodies on a plane without slipping Russian Journal of Nonlinear Dynamics, 2017, vol. 13, no. 4, pp. 599–609
In this paper the model of rolling of spherical bodies on a plane without slipping is presented taking into account viscous rolling friction. Results of experiments aimed at investigating the influence of friction on the dynamics of rolling motion are presented. The proposed dynamical friction model for spherical bodies is verified and the limits of its applicability are estimated. A method for determining friction coefficients from experimental data is formulated.
Keywords:
rolling friction, dynamical model, spherical body, nonholonomic model, experimental investigation
Citation:
Karavaev Y. L., Kilin A. A., Klekovkin A. V., The dynamical model of the rolling friction of spherical bodies on a plane without slipping, Russian Journal of Nonlinear Dynamics, 2017, vol. 13, no. 4, pp. 599–609
Experimental investigations of a highly maneuverable mobile omniwheel robot International Journal of Advanced Robotic Systems, 2017, vol. 14, no. 6, pp. 1-9
In this article, a dynamical model for controlling an omniwheel mobile robot is presented. The proposed model is used to
construct an algorithm for calculating control actions for trajectories characterizing the high maneuverability of the mobile
robot. A description is given for a prototype of the highly maneuverable robot with four omniwheels, for which an
algorithm for setting the coefficients of the PID controller is considered. Experiments on the motion of the robot were
conducted at different angles, and the orientation of the platform was preserved. The experimental results are analyzed
and statistically assessed.
Keywords:
omniwheel, mobile robot, dynamical model, PID controller, experimental investigations
Citation:
Kilin A. A., Bozek P., Karavaev Y. L., Klekovkin A. V., Shestakov V. A., Experimental investigations of a highly maneuverable mobile omniwheel robot, International Journal of Advanced Robotic Systems, 2017, vol. 14, no. 6, pp. 1-9
The experimental stand and the results of investigation of the motion of a brake shoe are described. In the noncritical region, the friction coefficient is determined experimentally. It is shown that its value corresponds to the condition of uniqueness of the solution for construction of this brake shoe. The dynamics observed in the paradoxical-motion region is described.
Citation:
Ivanova T. B., Erdakova N. N., Karavaev Y. L., Experimental Investigation of the Dynamics of a Brake Shoe, Doklady Physics, 2016, vol. 61, no. 12, pp. 611-614
Nonholonomic Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform: Theory and Experiments Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, pp. 158-167
We present the results of theoretical and experimental investigations of the motion
of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed
inside the robot. The control of the spherical robot is based on a dynamic model in the
nonholonomic statement expressed as equations of motion in quasivelocities with indeterminate
coefficients. A number of experiments have been carried out that confirm the adequacy of the
dynamic model proposed.
Citation:
Karavaev Y. L., Kilin A. A., Nonholonomic Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform: Theory and Experiments, Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, pp. 158-167
In this paper we describe the results of experimental investigations of the motion of a screwless underwater robot controlled by rotating internal rotors. We present the results of comparison of the trajectories obtained with the results of numerical simulation using the model of an ideal fluid.
Keywords:
screwless underwater robot, experimental investigations, helical body
Citation:
Karavaev Y. L., Kilin A. A., Klekovkin A. V., Experimental Investigations of the Controlled Motion of a Screwless Underwater Robot, Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 918-926
This paper is an experimental investigation of a round uniform disk rolling on a horizontal surface. Two methods for experimentally determining the loss of contact of the rolling disk from the horizontal surface before its stop are proposed. Results of experiments for disks having different masses and manufactured from different materials are presented. Causes of “microlosses of contact” detected in the processes of motion are discussed.
Keywords:
Euler’s disk, Loss of contact, Experiment
Citation:
Borisov A. V., Mamaev I. S., Karavaev Y. L., On the loss of contact of the Euler disk, Nonlinear Dynamics, 2015, vol. 79, no. 4, pp. 2287-2294
The paper is devoted to the development of a model of an underwater robot actuated by inner rotors. This design has no moving elements interacting with an environment, which minimizes a negative impact on it, and increases noiselessness of the robot motion in a liquid. Despite numerous discussions on the possibility and efficiency of motion by means of internal masses' movement, a large number of works published in recent years confirms a relevance of the research. The paper presents an overview of works aimed at studying the motion by moving internal masses. A design of a screwless underwater robot that moves by the rotation of inner rotors to conduct theoretical and experimental investigations is proposed. In the context of theoretical research a robot model is considered as a hollow ellipsoid with three rotors located inside so that the axes of their rotation are mutually orthogonal. For the proposed model of a screwless underwater robot equations of motion in the form of classical Kirchhoff equations are obtained.
Keywords:
mobile robot, screwless underwater robot, movement in ideal fluid
Citation:
Vetchanin E. V., Karavaev Y. L., Kalinkin A. A., Klekovkin A. V., Pivovarova E. N., A model of a screwless underwater robot, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 544-553
Experimental Investigation of the Motion of a Body with an Axisymmetric Base Sliding on a Rough Plane Regular and Chaotic Dynamics, 2015, vol. 20, no. 5, pp. 518-541
In this paper we investigate the dynamics of a body with a flat base (cylinder) sliding on a horizontal rough plane. For analysis we use two approaches. In one of the approaches using a friction machine we determine the dependence of friction force on the velocity of motion of cylinders. In the other approach using a high-speed camera for video filming and the method of presentation of trajectories on a phase plane for analysis of results, we investigate the qualitative and quantitative behavior of the motion of cylinders on a horizontal plane. We compare the results obtained with theoretical and experimental results found earlier. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.
Keywords:
dry friction, linear pressure distribution, two-dimensional motion, planar motion, Coulomb law
Citation:
Borisov A. V., Karavaev Y. L., Mamaev I. S., Erdakova N. N., Ivanova T. B., Tarasov V. V., Experimental Investigation of the Motion of a Body with an Axisymmetric Base Sliding on a Rough Plane, Regular and Chaotic Dynamics, 2015, vol. 20, no. 5, pp. 518-541
This paper deals with the problem of a spherical robot propelled by an internal omniwheel platform and rolling without slipping on a plane. The problem of control of spherical robot motion along an arbitrary trajectory is solved within the framework of a kinematic model and a dynamic model. A number of particular cases of motion are identified, and their stability is investigated. An algorithm for constructing elementary maneuvers (gaits) providing the transition from one steady-state motion to another is presented for the dynamic model. A number of experiments have been carried out confirming the adequacy of the proposed kinematic model.
Karavaev Y. L., Kilin A. A., The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform, Regular and Chaotic Dynamics, 2015, vol. 20, no. 2, pp. 134-152
This paper presents the results of experimental investigations for the rolling of a spherical robot of combined type actuated by an internal wheeled vehicle with rotor on a horizontal plane. The control of spherical robot based on nonholonomic dynamical by means of gaits. We consider the motion of the spherical robot in case of constant control actions, as well as impulse control. A number of experiments have been carried out confirming the importance of rolling friction.
Keywords:
spherical robot of combined type, dynamic model, control by means of gaits, rolling friction
Citation:
Kilin A. A., Karavaev Y. L., Experimental research of dynamic of spherical robot of combined type, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 4, pp. 721–734
In this paper we investigate the dynamics of a body with a flat base (cylinder) sliding on a horizontal rough plane. For analysis we use two approaches. In one of the approaches using a friction machine we determine the dependence of friction force on the velocity of motion of cylinders. In the other approach using a high-speed camera for video filming and the method of presentation of trajectories on a phase plane for analysis of results, we investigate the qualitative and quantitative behavior of the motion of cylinders on a horizontal plane. We compare the results obtained with theoretical and experimental results found earlier. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.
Keywords:
dry friction, linear pressure distribution, two-dimensional motion, planar motion, Coulomb law
Citation:
Borisov A. V., Karavaev Y. L., Mamaev I. S., Erdakova N. N., Ivanova T. B., Tarasov V. V., On the dynamics of a body with an axisymmetric base sliding on a rough plane, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 3, pp. 547-577
The dynamic model for a spherical robot with an internal omniwheel platform is presented. Equations of motion and first integrals according to the non-holonomic model are given. We consider particular solutions and their stability. The algorithm of control of spherical robot for movement along a given trajectory are presented.
Karavaev Y. L., Kilin A. A., The dynamic of a spherical robot with an internal omniwheel platform, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 1, pp. 187-204
The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 4, pp. 497-511
The kinematic control model for a spherical robot with an internal omniwheel platform is presented. We consider singularities of control of spherical robot with an unbalanced internal omniwheel platform. The general algorithm of control of spherical robot according to the kinematical quasi-static model and controls for simple trajectories (a straight line and in a circle) are presented. Experimental investigations have been carried out for all introduced control algorithms.
Keywords:
spherical robot, kinematic model, nonholonomic constraint, omniwheel, displacement of center of mass
Citation:
Kilin A. A., Karavaev Y. L., The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 4, pp. 497-511
Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 1, pp. 113-126
In this article a kinematic model of the spherical robot is considered, which is set in motion by the internal platform with omni-wheels. It has been introduced a description of construction, algorithm of trajectory planning according to developed kinematic model, it has been realized experimental research for typical trajectories: moving along a straight line and moving along a circle.
Kilin A. A., Karavaev Y. L., Klekovkin A. V., Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 1, pp. 113-126
The paper presents experimental investigation of a homogeneous circular disk rolling on a horizontal plane. In this paper two methods of experimental determination of the loss of contact between the rolling disk and the horizontal surface before the abrupt halt are proposed. Experimental results for disks of different masses and different materials are presented. The reasons for “micro losses” of contact with surface revealed during the rolling are discussed.
Keywords:
Euler disk, loss of contact, experiment
Citation:
Borisov A. V., Mamaev I. S., Karavaev Y. L., On the loss of contact of the Euler disk, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 499-506
The paper deals with deviation based control algorithm for trajectory following of omni-wheeled mobile robot. The kinematic model and the dynamics of the robot actuators are described.
Keywords:
omni-wheeled mobile robot, discrete algorithm, deviation based control, linearization, feedback
Citation:
Karavaev Y. L., Trefilov S. A., Deviation based discrete control algorithm for omni-wheeled mobile robot, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 1, pp. 91-100