Doklady Physics

, Volume 63, Issue 7, pp 302–306 | Cite as

Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane

  • T. B. IvanovaEmail author
  • A. A. KilinEmail author
  • E. N. PivovarovaEmail author


This paper is concerned with a model of the controlled motion of a spherical robot with an axisymmetric pendulum actuator on an inclined plane. First integrals of motion and partial solutions are presented and their stability is analyzed. It is shown that the steady solutions exist only at an inclination angle less than some critical value and only for constant control action.


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Copyright information

© Pleiades Publishing, Ltd. 2018

Authors and Affiliations

  1. 1.Udmurt State University IzhevskRussia
  2. 2.Blagonravov Mechanical Engineering Research Institute, Russian Academy of SciencesMoscowRussia
  3. 3.Moscow Institute of Physics and Technology (State University)DolgoprudnyiRussia

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