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

Mikhail Mikhailovich 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 - Jan 1 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: Aug 4 2013Aug 7 2013

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

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

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Fingerprint Dive into the research topics of 'A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors'. Together they form a unique fingerprint.

  • Cite this

    Svinin, M. 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] (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). IEEE Computer Society. https://doi.org/10.1109/ICMA.2013.6617884