The derivation of the Lagrangian for different configurations of spherical robots is explored through the use of the Euler Lagrange equations and additional constrains for the generalized velocities. The degrees of freedom are specified with rotation matrices and linear displacement vectors, allowing to determine the necessary elements for all the models in… (More)

W(t) in terms of matrices 2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Mexico City, Mexico

Loffe, Mark

September 30-October

2013

1 Excerpt

Development of a Spherical Rolling Robot Equipped with a Gyro

S. Maekawa, T. Urakubo, M. Osawa, H. Tamaki, Y. Tada