Modeling, analysis, and controllability of a single-actuator differentially-driven robot

In this paper, we develop an elaborate three-dimensional dynamical model for a novel single-actuator variable-diameter differentially-driven robot by taking recourse to Lagrangian formulation. Utilizing this model, we were able to analyze the various parameters and develop design tools that could be used in realizing such a robot with certain motion requirements. Given the single actuator design that inherently limits steering, the proposed model is an excellent platform to test optimal path planning techniques such as Dubins curves. We study the effect of dynamical forces on following time-optimal trajectories and finally we analyze the controllability of our system.