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Control of the Rolling Motion of a Spherical Robot on an Inclined Plane

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Abstract

In this work we consider the controlled motion of a pendulum spherical robot on an inclined plane. The algorithm for determining the control actions for the motion along an arbitrary trajectory and examples of numerical simulation of the controlled motion are given.

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ACKNOWLEDGMENTS

The authors extend their gratitude to A.V. Borisov and I.S. Mamaev for fruitful discussions of the results of this study.

This work was carried out at the Steklov Mathematical Institute of the Russian Academy of Sciences and was supported by the grant of the Russian Science Foundation no. 14-50-00005.

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Authors and Affiliations

  1. V.A. Steklov Mathematical Institute RAS, 119991, Moscow, Russia

    T. B. Ivanova, A. A. Kilin & E. N. Pivovarova

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  1. T. B. Ivanova
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  2. A. A. Kilin
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  3. E. N. Pivovarova
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Correspondence to E. N. Pivovarova.

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The article was translated by the authors.

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Ivanova, T.B., Kilin, A.A. & Pivovarova, E.N. Control of the Rolling Motion of a Spherical Robot on an Inclined Plane. Dokl. Phys. 63, 435–440 (2018). https://doi.org/10.1134/S1028335818100099

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