In the paper we study the control of a balanced dynamically non-symmetric sphere with
rotors. The no-slip condition at the point of contact is assumed. The algebraic controllability …

Ball-shaped robots present a novel and widely studied approach for mobile robotics.
Despite the essential benefit of the ball-robot that it cannot flip over or fall down, the robot's …

As a kind of ground mobile robot, deformable robots have many advantages, such as solid
terrain adaptability, lightweight, and portability. Among these robots, the radial skeleton …

В работе исследуется управление при помощи трех гиростатов движением
динамически несимметричного уравновешенного шара на плоскости, при условии, что …

The paper considers two new integrable systems which go back to Chaplygin. The systems
consist of a spherical shell that rolls on a plane; within the shell there is a ball or Lagrange's …

We discuss explicit integration and bifurcation analysis of two non-holonomic problems. One
of them is the Chaplygin's problem on no-slip rolling of a balanced dynamically non …

THE evidence of water on Mars has increased interest in Martian exploration. Future
missions will involve the exploration of large areas of the Martian surface, and areas of …

This paper aims at a conceptual design of a lightweight prototype for autonomous planetary
surface exploration. Considering the complex bumpy surface on planets, we design a novel …

In this paper, the rolling stability of a power-generating tumbleweed rover is investigated.
The nonlinear equations of motion of the rover capture the nonholonomic nature of rolling …

In the recently introduced Variable-Shape heaving wave energy converters, the buoy
changes its shape in response to changing incident waves actively. In this study, the …