Add to ORKGA mathematical model of the dynamics of a rolling rigid sphere in a rectilinear chute-conveyor with transformed dry friction is developed. It includes two types of rolling: with slipping and without slipping. A multi-objective optimization problem of a passively controlled motion is formulated for the model and it has been solved. Salukvadze optimal solution and ranked Pareto optimal solutions are determined
The model of a ball rolling on an inclined plane is derived using screw theory and Lie algebra. The ...
International audienceCoulomb friction model with unilateral contact is a basic, but reliable, model...
This paper presents a novel method for conveying of miniature and microparts on a subjected to sinus...
Friction drive systems are adopted for many robots of spherical locomotion type. Such systems have p...
This paper deals with the general formulation of the problem of a rigid sphere rolling under gravity...
The paper considers a heavy homogeneous ball rolling without slipping on the outside of a real rough...
Rolling between rigid surfaces in space is a well-known nonholonomic system, whose mathematical mode...
Rolling between rigid surfaces in space is a well-known nonholonomic system, whose mathematical mode...
The theoretical mechanical model of the spherical robot with the flywheels located in a sphere is co...
A method to reconfigure in a nonprehensile way the pose (position and orientation) of a sphere rolli...
We consider a mechanical problem concerning a 2D axisymmetric body moving forward on the plane and m...
Agraïments/Ajudes: The third author thanks to FCT (Portugal) for the partial support through Program...
This chapter reviews the problem of nonholonomic rolling in nonprehensile manipulation tasks through...
In this paper we are interested in the dynamics and numerical treatment of a rolling disk on a flat ...
We study the dynamics and explore thecontrollability of a family of sphere-plate mechanical systems....
The model of a ball rolling on an inclined plane is derived using screw theory and Lie algebra. The ...
International audienceCoulomb friction model with unilateral contact is a basic, but reliable, model...
This paper presents a novel method for conveying of miniature and microparts on a subjected to sinus...
Friction drive systems are adopted for many robots of spherical locomotion type. Such systems have p...
This paper deals with the general formulation of the problem of a rigid sphere rolling under gravity...
The paper considers a heavy homogeneous ball rolling without slipping on the outside of a real rough...
Rolling between rigid surfaces in space is a well-known nonholonomic system, whose mathematical mode...
Rolling between rigid surfaces in space is a well-known nonholonomic system, whose mathematical mode...
The theoretical mechanical model of the spherical robot with the flywheels located in a sphere is co...
A method to reconfigure in a nonprehensile way the pose (position and orientation) of a sphere rolli...
We consider a mechanical problem concerning a 2D axisymmetric body moving forward on the plane and m...
Agraïments/Ajudes: The third author thanks to FCT (Portugal) for the partial support through Program...
This chapter reviews the problem of nonholonomic rolling in nonprehensile manipulation tasks through...
In this paper we are interested in the dynamics and numerical treatment of a rolling disk on a flat ...
We study the dynamics and explore thecontrollability of a family of sphere-plate mechanical systems....
The model of a ball rolling on an inclined plane is derived using screw theory and Lie algebra. The ...
International audienceCoulomb friction model with unilateral contact is a basic, but reliable, model...
This paper presents a novel method for conveying of miniature and microparts on a subjected to sinus...