A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors

Mikhail Svinin, Akihiro Morinaga, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The paper addresses the problem of reconfiguring a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The problem is stated in dynamic formulation. To solve the problem, we employ the so-called geometric phase approach based on the fact that tracing a closed path in the space of input variables results in a non-closed path in the space of output variables. A working model for solving the motion planning problem is obtained by modifying the contact kinematic equations by the condition of dynamic realizability which constrains the component of the angular velocity of the rolling carrier and depends on the mass distribution. By using a motion planning strategy based on tracing a figure eight on the sphere, an exact and dynamically realizable motion planning algorithm is fabricated and verified under simulation. It is shown that the dynamically realizable contact paths are shorter and essentially different than those resulted from the kinematic model of pure rolling.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
PublisherIEEE Computer Society
Pages1-6
Number of pages6
ISBN (Print)9781467355582
DOIs
Publication statusPublished - 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: Aug 4 2013Aug 7 2013

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period8/4/138/7/13

Fingerprint

Motion planning
Rotors
Kinematics
Angular velocity
Robots

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Svinin, M., Morinaga, A., & Yamamoto, M. (2013). A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 1-6). [6617884] IEEE Computer Society. https://doi.org/10.1109/ICMA.2013.6617884

A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors. / Svinin, Mikhail; Morinaga, Akihiro; Yamamoto, Motoji.

2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. IEEE Computer Society, 2013. p. 1-6 6617884.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Svinin, M, Morinaga, A & Yamamoto, M 2013, A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors. in 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013., 6617884, IEEE Computer Society, pp. 1-6, 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013, Takamastu, Japan, 8/4/13. https://doi.org/10.1109/ICMA.2013.6617884
Svinin M, Morinaga A, Yamamoto M. A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. IEEE Computer Society. 2013. p. 1-6. 6617884 https://doi.org/10.1109/ICMA.2013.6617884
Svinin, Mikhail ; Morinaga, Akihiro ; Yamamoto, Motoji. / A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors. 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. IEEE Computer Society, 2013. pp. 1-6
@inproceedings{8b570c7bb6674772a19b3f71033087d4,
title = "A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors",
abstract = "The paper addresses the problem of reconfiguring a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The problem is stated in dynamic formulation. To solve the problem, we employ the so-called geometric phase approach based on the fact that tracing a closed path in the space of input variables results in a non-closed path in the space of output variables. A working model for solving the motion planning problem is obtained by modifying the contact kinematic equations by the condition of dynamic realizability which constrains the component of the angular velocity of the rolling carrier and depends on the mass distribution. By using a motion planning strategy based on tracing a figure eight on the sphere, an exact and dynamically realizable motion planning algorithm is fabricated and verified under simulation. It is shown that the dynamically realizable contact paths are shorter and essentially different than those resulted from the kinematic model of pure rolling.",
author = "Mikhail Svinin and Akihiro Morinaga and Motoji Yamamoto",
year = "2013",
doi = "10.1109/ICMA.2013.6617884",
language = "English",
isbn = "9781467355582",
pages = "1--6",
booktitle = "2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013",
publisher = "IEEE Computer Society",
address = "United States",

}

TY - GEN

T1 - A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors

AU - Svinin, Mikhail

AU - Morinaga, Akihiro

AU - Yamamoto, Motoji

PY - 2013

Y1 - 2013

N2 - The paper addresses the problem of reconfiguring a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The problem is stated in dynamic formulation. To solve the problem, we employ the so-called geometric phase approach based on the fact that tracing a closed path in the space of input variables results in a non-closed path in the space of output variables. A working model for solving the motion planning problem is obtained by modifying the contact kinematic equations by the condition of dynamic realizability which constrains the component of the angular velocity of the rolling carrier and depends on the mass distribution. By using a motion planning strategy based on tracing a figure eight on the sphere, an exact and dynamically realizable motion planning algorithm is fabricated and verified under simulation. It is shown that the dynamically realizable contact paths are shorter and essentially different than those resulted from the kinematic model of pure rolling.

AB - The paper addresses the problem of reconfiguring a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The problem is stated in dynamic formulation. To solve the problem, we employ the so-called geometric phase approach based on the fact that tracing a closed path in the space of input variables results in a non-closed path in the space of output variables. A working model for solving the motion planning problem is obtained by modifying the contact kinematic equations by the condition of dynamic realizability which constrains the component of the angular velocity of the rolling carrier and depends on the mass distribution. By using a motion planning strategy based on tracing a figure eight on the sphere, an exact and dynamically realizable motion planning algorithm is fabricated and verified under simulation. It is shown that the dynamically realizable contact paths are shorter and essentially different than those resulted from the kinematic model of pure rolling.

UR - http://www.scopus.com/inward/record.url?scp=84907316067&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84907316067&partnerID=8YFLogxK

U2 - 10.1109/ICMA.2013.6617884

DO - 10.1109/ICMA.2013.6617884

M3 - Conference contribution

SN - 9781467355582

SP - 1

EP - 6

BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

PB - IEEE Computer Society

ER -