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 language | English |
|---|---|
| Article number | 6766197 |
| Pages (from-to) | 993-1002 |
| Number of pages | 10 |
| Journal | IEEE Transactions on Robotics |
| Volume | 30 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Jan 1 2014 |
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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 journal › Article
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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.
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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 -