A motion planning strategy for a spherical rolling robot driven by two internal rotors

Akihiro Morinaga, Mikhail Mikhailovich Svinin, Motoji Yamamoto

Research output: Contribution to journalArticle

23 Citations (Scopus)

Abstract

This paper deals with a motion planning problem for a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The key feature of the problem is that it can be stated only in dynamic formulation. In addition, the problem features a singularity when the contact trajectory goes along the equatorial line in the plane of the two rotors. A motion planning strategy composed of two trivial and one nontrivial maneuver is devised. The trivial maneuvers implement motion along the geodesic line perpendicular to the singularity line. The construction of the nontrivial maneuver employs the nilpotent approximation of the originally nonnilpotent robot dynamics, and is based on an iterative steering algorithm. At each iteration, the control inputs are constructed with the use of geometric phases. The motion planning strategy thus constructed is verified under simulation.

Original languageEnglish
Article number6766197
Pages (from-to)993-1002
Number of pages10
JournalIEEE Transactions on Robotics
Volume30
Issue number4
DOIs
Publication statusPublished - Jan 1 2014

Fingerprint

Motion planning
Rotors
Robots
Trajectories

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

A motion planning strategy for a spherical rolling robot driven by two internal rotors. / Morinaga, Akihiro; Svinin, Mikhail Mikhailovich; Yamamoto, Motoji.

In: IEEE Transactions on Robotics, Vol. 30, No. 4, 6766197, 01.01.2014, p. 993-1002.

Research output: Contribution to journalArticle

Morinaga, Akihiro ; Svinin, Mikhail Mikhailovich ; Yamamoto, Motoji. / A motion planning strategy for a spherical rolling robot driven by two internal rotors. In: IEEE Transactions on Robotics. 2014 ; Vol. 30, No. 4. pp. 993-1002.
@article{9d001989c1a24d45b18a85e87b23b99c,
title = "A motion planning strategy for a spherical rolling robot driven by two internal rotors",
abstract = "This paper deals with a motion planning problem for a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The key feature of the problem is that it can be stated only in dynamic formulation. In addition, the problem features a singularity when the contact trajectory goes along the equatorial line in the plane of the two rotors. A motion planning strategy composed of two trivial and one nontrivial maneuver is devised. The trivial maneuvers implement motion along the geodesic line perpendicular to the singularity line. The construction of the nontrivial maneuver employs the nilpotent approximation of the originally nonnilpotent robot dynamics, and is based on an iterative steering algorithm. At each iteration, the control inputs are constructed with the use of geometric phases. The motion planning strategy thus constructed is verified under simulation.",
author = "Akihiro Morinaga and Svinin, {Mikhail Mikhailovich} and Motoji Yamamoto",
year = "2014",
month = "1",
day = "1",
doi = "10.1109/TRO.2014.2307112",
language = "English",
volume = "30",
pages = "993--1002",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "4",

}

TY - JOUR

T1 - A motion planning strategy for a spherical rolling robot driven by two internal rotors

AU - Morinaga, Akihiro

AU - Svinin, Mikhail Mikhailovich

AU - Yamamoto, Motoji

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This paper deals with a motion planning problem for a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The key feature of the problem is that it can be stated only in dynamic formulation. In addition, the problem features a singularity when the contact trajectory goes along the equatorial line in the plane of the two rotors. A motion planning strategy composed of two trivial and one nontrivial maneuver is devised. The trivial maneuvers implement motion along the geodesic line perpendicular to the singularity line. The construction of the nontrivial maneuver employs the nilpotent approximation of the originally nonnilpotent robot dynamics, and is based on an iterative steering algorithm. At each iteration, the control inputs are constructed with the use of geometric phases. The motion planning strategy thus constructed is verified under simulation.

AB - This paper deals with a motion planning problem for a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The key feature of the problem is that it can be stated only in dynamic formulation. In addition, the problem features a singularity when the contact trajectory goes along the equatorial line in the plane of the two rotors. A motion planning strategy composed of two trivial and one nontrivial maneuver is devised. The trivial maneuvers implement motion along the geodesic line perpendicular to the singularity line. The construction of the nontrivial maneuver employs the nilpotent approximation of the originally nonnilpotent robot dynamics, and is based on an iterative steering algorithm. At each iteration, the control inputs are constructed with the use of geometric phases. The motion planning strategy thus constructed is verified under simulation.

UR - http://www.scopus.com/inward/record.url?scp=84905909431&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84905909431&partnerID=8YFLogxK

U2 - 10.1109/TRO.2014.2307112

DO - 10.1109/TRO.2014.2307112

M3 - Article

VL - 30

SP - 993

EP - 1002

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

SN - 1552-3098

IS - 4

M1 - 6766197

ER -