A method of controlling the planar motion of a robot with two internal masses moving in a circle with constant velocity around a vertical axis is considered, based on imposing or removing holonomic ties on the struts mounted on the robot body. During the movement process, alternately one of the struts comes into contact with the surface while the others do not interact with it. This allows the robot body to rotate around the stationary post.
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D.V. BORDYUGOV (2024) studied this question.
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