Dynamic model and motion planning for a pendulum-actuated spherical rolling robot

Mikhail Mikhailovich Svinin, Yang Bai, Motoji Yamamoto

Research output: Contribution to journalConference article

15 Citations (Scopus)

Abstract

This paper deals with the dynamics and motion planning for a spherical rolling robot with a pendulum actuated by two motors. First a dynamic model for the rolling robot is established. In general, not all feasible kinematic trajectories of the rolling carrier are dynamically realizable. A notable exception is when the contact trajectories on the sphere and on the plane are geodesic lines. Based on this consideration, a motion planning strategy for complete reconfiguration of the rolling robot is proposed. The strategy consists of two trivial movements and a non-trivial maneuver that is based on tracing multiple spherical triangles. To compute the sizes and the number of triangles, a reachability diagram is constructed. To define the control torques realizing the rest-to-rest motion along the geodesic lines, two possible approaches are suggested. A computational algorithm, implementing the motion planning strategy, is developed and verified under simulation.

Original languageEnglish
Article number7139249
Pages (from-to)656-661
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2015-June
Issue numberJune
DOIs
Publication statusPublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

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All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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