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A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
A dynamical system involving a driven pendulum filled with liquid, is analyzed in the present paper series. The study of such a system is conducted in order to understand energy dissipation resulting from the shallow water sloshing and…
Solutions in terms of Elliptic Functions are provided for SAM in the integrable case where the mass ration equals three. My last SAM paper (I promise). To appear in The American Journal of Physics.
The Atwood Machine, a classic apparatus in physics education, has historically been pivotal in demonstrating Newtonian mechanics, specifically Newton's Second Law. This study introduces an innovative adaptation, the circular Atwood machine,…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…
The looping pendulum is a simple physical system consisting of two masses connected by a string that passes over a rod. We derive equations of motion for the looping pendulum using Newtonian mechanics, and show that these equations can be…
We study the motion of the coupled system, $\mathscr S$, constituted by a physical pendulum, $\mathscr B$, with an interior cavity entirely filled with a viscous, compressible fluid, $\mathscr F$. The presence of the fluid may strongly…
The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism - an underactuated system with rolling constraints - popularized commercially as the Segway, and thereby…
A high fidelity model is developed for an elastic string pendulum, one end of which is attached to a rigid body while the other end is attached to an inertially fixed reel mechanism which allows the unstretched length of the string to be…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
We have designed, built and operated a physical pendulum which allows one to demonstrate experimentally the behaviour of the pendulum under any equation of motion for such a device for any initial conditions. All parameters in the equation…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
This study investigates the dynamics of a magnetic pendulum under time-varying magnetic excitation with a position-dependent phase. The system exhibits complex chaotic and regular dynamics, validated through simulations and experiments. The…
The humble pendulum is often invoked as the archetype of a simple, gravity driven, oscillator. Under ideal circumstances, the oscillation frequency of the pendulum is independent of its mass and swing amplitude. However, in most real-world…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptions are shown to lead to the planar 1D pendulum and to the…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
We present analytical and numerical results on integrability and transition to chaotic motion for a generalized Ziegler pendulum, a double pendulum subject to an angular elastic potential and a follower force. Several variants of the…