Projects funded by the NCN

Information on the principal investigator and host institution

Information of the project and the call

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Synthesis of adaptive control methods for an underactuated dynamically stable mobile robot (ballbot type)

2012/07/N/ST7/03111

Keywords:

mobile robotics nonholonomic constraints robots' dynamics adaptive control space robotics

Descriptors:

  • ST7_10: Hardware implementation of algorithms
  • ST7_1: Control engineering in automation and robotics
  • ST7_3: Simulation engineering and modelling

Panel:

ST7 - Systems and communication engineering: electronics, communication, optoelectronics

Host institution :

Centrum Badań Kosmicznych PAN

woj. mazowieckie

Other projects carried out by the institution 

Principal investigator (from the host institution):

Łukasz Wiśniewski 

Number of co-investigators in the project: 3

Call: PRELUDIUM 4 - announced on 2012-09-15

Amount awarded: 105 062 PLN

Project start date (Y-m-d): 2013-10-01

Project end date (Y-m-d): 2018-03-31

Project duration:: 54 months (the same as in the proposal)

Project status: Project settled

Information in the final report

  • Publication in academic press/journals (1)
  • Articles in post-conference publications (2)
  1. Energy Dissipation during Surface Interaction of an Underactuated Robot for Planetary Exploration
    Authors:
    Łukasz Wiśniewski, Jerzy Grygorczuk, Paweł Zajko, Mateusz Przerwa, Gordon Wasilewski, Joanna Gurgurewicz, Daniel Mège
    Academic press:
    Energies (rok: 2021, tom: 14 (14), strony: nie dotyczy), Wydawca: MDPI Open Access Journals
    Status:
    Published
    DOI:
    10.3390/en14144282 - link to the publication
  1. DESIGN FEATURES OF NOVEL HIGH ENERGY IMPULSIVE DRIVE OF UNDERACTUATED MOBILE ROBOT FOR PLANETARY EXPLORATION
    Authors:
    Łukasz Wiśniewski, Jerzy Grygorczuk, Daniel Mege, Joanna Gurgurewicz
    Conference:
    17th European Space Mechanisms and Tribology Symposium (ESMATS) (rok: 2017, ), Wydawca: ESA ETEC
    Data:
    konferencja 20-22 września
    Status:
    Published
  2. MOBILITY AND TERRAIN ACCESSIBILITY ANALYSIS FOR HOPTER - AN UNDERACTUATED MOBILE ROBOT FOR PLANETARY EXPLORATION
    Authors:
    Łukasz Wiśniewski, Jerzy Grygorczuk, Piotr Węclewski, Daniel Mege, Joanna Gurgurewicz, Teresa Zielińska, Maria Gritsevich, Jouni Peltoniemi
    Conference:
    14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), Leiden, The Netherlands, (rok: 2017, ), Wydawca: ESA ESTEC
    Data:
    konferencja 20-22 czerwca
    Status:
    Published
    DOI:
    link to the publication

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