Plane-Parallel Motion of a Friction-Powered Robot Moving Along a Rough Horizontal Plane

  • Marat DosaevEmail author
  • Vitaly Samsonov
  • Andrei Holub
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The design of a friction-powered robot is proposed. The robot is driven by a motion of internal masses. It has one unbalanced rotor and one flywheel. A mathematical model of its plane-parallel motion is constructed. Equations of translational motion are studied. Angular accelerations of rotating structural elements are selected as control functions. A control variant is proposed, in which the forward movement of the body is realized.


Inertial robot Mathematical model Friction Control algorithm Periodic regime 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Chernous’ko F.L.: Optimal motion of a Two-Body System in a Resistive Medium. J. Optim. Theory Appl. 147(2), 278-297 (2010).Google Scholar
  2. 2.
    Chernous’ko F.L., Bolotnik N.N., Figurina T.Yu.: Optimal Control of Vibrationally Excited Locomotion Systems. Regul. Chaotic Dyn. 18(1-2), 85-99 (2013)Google Scholar
  3. 3.
    Chernous’ko F.L.: Optimal Control of the Motion of a Two-Mass System. Doklady Mathematics 97(3), 295-299 (2018).Google Scholar
  4. 4.
    Zimmermann K., Zeidis I., Bolotnik N., Pivovarov M.: Dynamics of a Two-Module Vibration Driven System Moving Along a Rough Horizontal Plane. Multibody Syst. Dyn. 22(1), 199-219 (2009).Google Scholar
  5. 5.
    Fang H.B. and Xu J.: Dynamics of a Three-Module Vibration-Driven System with Non-Symmetric Coulomb’s Dry Friction. Multibody Syst. Dyn. 27(4), 455-485 (2012).Google Scholar
  6. 6.
    Zheng M., Zhan Q., Liu J., Cai Y.: Control of a spherical robot: Path following based on nonholonomic kinematics and dynamics. Chinese Journal of Aeronautics. 24(3), 337-345 (2011).Google Scholar
  7. 7.
    Karavaev Yu.L., Kilin A.A.: The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform. Regul. Chaotic Dyn. 20(2), 134–152 (2015)Google Scholar
  8. 8.
    Lupekhina I.V., Bezmen P.A., Yatsun C.F.: Plane-parallel Motion of a Vibration Robot on a Horizontal Rough Surface. Natural and Tech. Sciences. 4(60), 41-44 (2012)Google Scholar
  9. 9.
    Golitsyna M.V.: Periodic Mode of Motion of the Vibration Robot with a Control Constraint. Appl. Math. and Mech. 1, 627-636 (2018) (in Russian)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Lomonosov Moscow State UniversityMoscowRussia
  2. 2.National Taiwan University of Science and TechnologyTaipeiTaiwan
  3. 3.Belarusian State UniversityMinskRepublic of Belarus

Personalised recommendations