Yury Karavaev

This paper presents the design of an aquatic robot actuated by one internal rotor. The robot body has a cylindrical form with a base in the form of a symmetric airfoil with a sharp edge. For this object, equations of motion are presented in the form of Kirchhoff equations for rigid body motion in an ideal fluid, which are supplemented with viscous resistance terms. A prototype of the aquatic robot with an internal rotor is developed. Using this prototype, experimental investigations of motion in a fluid are carried out.

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 also made of the key features and the historical aspects of the development of their designs, in particular, taking into account various areas of application.

In this paper we present a study of the dynamics of a mobile robot with omnidirectional wheels taking into account the reaction forces acting from the plane. The dynamical equations are obtained in the form of Newton – Euler equations. In the course of the study, we formulate structural restrictions on the position and orientation of the omnidirectional wheels and their rollers taking into account the possibility of implementing the omnidirectional motion. We obtain the dependence of reaction forces acting on the wheel from the supporting surface on the parameters defining the trajectory of motion: linear and angular velocities and accelerations, and the curvature of the trajectory of motion. A striking feature of the system considered is that the results obtained can be formulated in terms of elementary geometry.

The paper is focused to design, simulation and modeling of the compact compliant structures widely used in construction of robotic devices. As the illustrative example it is proposed mechanism for reduction of motion, which enables to improve the accuracy of the positioning system. The physical model is fabricated by 3D printing technology. Its proposed performance characteristics are verified by measurement on the experimental test bed by using laser distance sensors and image sensing/processing technology.

This paper presents experimental investigations of the control algorithm of a highly maneuverable mobile manipulation robot. The kinematics of a mobile manipulation robot, the algorithm of trajectory planning of the mobile robot to the point of object gripping are considered. By realization of the algorithm, the following tasks are solved: solution of the inverse positional task for the mobile manipulation robot; motion planning of the mobile manipulator taking into account the minimization of energy and time consumption per movement. The result of the algorithm is a movement to the point of gripping of the manipulation object; grasping and loading of the object. Experimental investigations of the developed algorithms are given.

This paper presents the results of the study of the dynamics of a real spherical robot of combined type in the case of control using small periodic oscillations. The spherical robot is set in motion by controlled change of the position of the center of mass and by generating variable gyrostatic momentum. We demonstrate how to use small periodic controls for stabilization of the spherical robot during motion. The results of numerical simulation are obtained for various initial conditions and control parameters that ensure a change in the position of the center of mass and a variation of gyrostatic momentum. The problem of the motion of a spherical robot of combined type on a surface that performs flat periodic oscillations is also considered. The results of numerical simulation are obtained for different initial conditions, control actions and parameters of oscillations.

In this paper the model of rolling of spherical bodies on a plane without slipping is presented taking into account viscous rolling friction. Results of experiments aimed at investigating the influence of friction on the dynamics of rolling motion are presented. The proposed dynamical friction model for spherical bodies is verified and the limits of its applicability are estimated. A method for determining friction coefficients from experimental data is formulated.

This paper presents the results of experimental investigations for the rolling of a spherical robot of combined type actuated by an internal wheeled vehicle with rotor on a horizontal plane. The control of spherical robot based on nonholonomic dynamical by means of gaits. We consider the motion of the spherical robot in case of constant control actions, as well as impulse control. A number of experiments have been carried out confirming the importance of rolling friction.

In this paper we investigate the dynamics of a body with a flat base (cylinder) sliding on a horizontal rough plane. For analysis we use two approaches. In one of the approaches using a friction machine we determine the dependence of friction force on the velocity of motion of cylinders. In the other approach using a high-speed camera for video filming and the method of presentation of trajectories on a phase plane for analysis of results, we investigate the qualitative and quantitative behavior of the motion of cylinders on a horizontal plane. We compare the results obtained with theoretical and experimental results found earlier. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.

The dynamic model for a spherical robot with an internal omniwheel platform is presented. Equations of motion and first integrals according to the non-holonomic model are given. We consider particular solutions and their stability. The algorithm of control of spherical robot for movement along a given trajectory are presented.

The kinematic control model for a spherical robot with an internal omniwheel platform is presented. We consider singularities of control of spherical robot with an unbalanced internal omniwheel platform. The general algorithm of control of spherical robot according to the kinematical quasi-static model and controls for simple trajectories (a straight line and in a circle) are presented. Experimental investigations have been carried out for all introduced control algorithms.

In this article a kinematic model of the spherical robot is considered, which is set in motion by the internal platform with omni-wheels. It has been introduced a description of construction, algorithm of trajectory planning according to developed kinematic model, it has been realized experimental research for typical trajectories: moving along a straight line and moving along a circle.

The paper presents experimental investigation of a homogeneous circular disk rolling on a horizontal plane. In this paper two methods of experimental determination of the loss of contact between the rolling disk and the horizontal surface before the abrupt halt are proposed. Experimental results for disks of different masses and different materials are presented. The reasons for “micro losses” of contact with surface revealed during the rolling are discussed.

The paper deals with deviation based control algorithm for trajectory following of omni-wheeled mobile robot. The kinematic model and the dynamics of the robot actuators are described.