A spherical robot with a suspended pendulum is a typical nonlinear system. It is of great
significance to save movement energy consumption in improving the endurance when the …

Tensegrities synergistically combine tensile (cable) and rigid (link) elements to achieve
structural integrity, making them lightweight, packable, and impact resistant. Consequently …

The controlled motion of a rolling ball actuated by internal point masses that move along
arbitrarily shaped rails fixed within the ball is considered. Application of the variational …

We extend known constructions of almost-Poisson brackets and their gauge transformations
to nonholonomic systems whose Lagrangian is not mechanical but possesses a gyroscopic …

The paper deals with motion planning for a spin-rolling sphere when the sphere follows an
optimal straight path on a plane. Since the straight line constrains the sphere's motion …

In this Thesis we study two types of mechanical nonholonomic systems, namely systems
with linear constraints and lagrangian with a linear term in the velocities, and nonholonomic …

This paper proposes a novel approach for two-wheel differential spherical robot (TWDSR)
design to monitor the power cable tunnel environment. A co-simulation of dynamic modeling …

In this paper, a development of a spherical robot is considered. Actuator of the robot is an
omniwheel mobile platform with three independently controlled DC motors. The mobile …

[ES] Este trabajo consiste en el diseño, implementación y control de un prototipo de robot
móvil con forma esférica, al que se ha dado el nombre de SpheroBot. También forma parte …

In this report we study the modelling of simple mechanical systems evolving on trivial
principal bundles, specifically\emph {locomotion} systems with nonholonomic constraints …