On the Skating Motion of a Robot Controlled by an Internal Flywheel

The motion of an axisymmetric robot controlled by a flywheel mounted on it is considered. It is assumed that the body of the robot is in contact with the plane at three points, while the force of dry anisotropic friction acts at two points, and at the third point the friction is isotropic. The control of the internal flywheel, which ensures the movement of the object in the given direction, is built. The dependence of the average velocity of the center of mass of the robot on the parameters of the system is studied.