This paper presents an analytical solution for a complex mechanical system consisting of a
pendulum with a rolling wheel, which combines translational and rotational motion. The …

This paper describes the existing designs of spherical robots and reviews studies devoted to
investigating their dynamics and to developing algorithms for controlling them. An analysis is …

Soccer training assisted robot system is a combination of robotics and artificial intelligence.
Motion path planning is an important part of soccer training assisted robot decision system …

This paper studies a novel fluid actuated system for a spherical mobile robot. The robot's
mechanism consists of two essential parts: circular pipes to lead spherical moving masses …

The unmodeled parameters, uncertainties, chattering, and disturbances can be serious
problems for a controller. These issues decrease the performance of the controller and make …

The point stabilization problem for a robot-wheel is considered. The problem consists in
synthesizing control torque in the form of feedback that brings the wheel from an arbitrary …

This study considers the control of spherical robot linear motion under input saturation. A
fractional sliding mode controller that combines fractional order calculus and the hierarchical …

Speed perception is an important task depending mainly on optic flow that the driver must
perform continuously to control his/her vehicle. Unfortunately, it appears that in some driving …

The problem of stabilizing a robot-wheel at a target point on a straight line subject to control
and phase constraints is considered. The phase and control constraints are met by applying …

We investigate the model of controlled motion of a pendulum-actuated spherical robot on a
horizontal plane, taking rolling resistance into account. We derive equations of motion and …