18 citations · 41 across the 5 of their papers we have counts for
5 papers
Numerical Simulations of a Rolling Ball Robot Actuated by Internal Point Masses
Vakhtang Putkaradze, Stuart Rogers
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. The controlled equations of…
On the Normal Force and Static Friction Acting on a Rolling Ball Actuated by Internal Point Masses
Vakhtang Putkaradze, Stuart Rogers
The goal of this paper is to investigate the normal and tangential forces acting at the point of contact between a horizontal surface and a rolling ball actuated by internal point…
On the Dynamics of a Rolling Ball Actuated by Internal Point Masses
Vakhtang Putkaradze, Stuart Rogers
The motion of a rolling ball actuated by internal point masses that move inside the ball's frame of reference is considered. The equations of motion are derived by applying Euler-P…
On the Optimal Control of a Rolling Ball Robot Actuated by Internal Point Masses
Vakhtang Putkaradze, Stuart Rogers
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. Application of the variation…
Constraint Control of Nonholonomic Mechanical Systems
Vakhtang Putkaradze, Stuart Rogers
We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is define…