The Control of an Aquatic Robot by a Periodic Rotation of the Internal Flywheel

Abstract

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.

Control of a Spherical Robot with a Nonholonomic Omniwheel Hinge Inside

“…The problem of controlling the spherical robot (spherical shell) using various mechanisms that set it in motion is one of the urgent problems of nonholonomic mechanics and robotics. These are rotary mechanisms [7][8][9][10][11][12], pendulum mechanisms [13][14][15][16][17], mechanisms with omniwheels [18][19][20] and some others [21,22]. In these works, the equations of motion of the studied mechanical systems are given and control actions for the realization of motion are obtained.…”