Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism

Kenji Kimura, Kazuo Ishii, Yasunori Takemura, Motoji Yamamoto

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

Abstract

The sphere kinematics has been discussed in the research field of multi-fingers grasping, mobile robot motion control driven by a sphere, ball handling, etc. In the multi-fingers grasping problem, a sphere and a plane correspond to a spherical finger and a cuboid object are used and the contact points of the sphere are analyzed. The mobile robot driven by a sphere is modeled as an inverted pendulum using a ball, and can move in any direction without changing orientation. The ball handling mechanism is discussed in the RoboCup soccer robot, which enables the robot to carry a ball with it. We consider that these problems are categorized as sphere kinematics, the relation between velocities of contact points and sphere motion, and discuss the sphere motion driven by two-wheel actuator with arbitral contact points on the sphere.

Original languageEnglish
Title of host publicationProceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages518-523
Number of pages6
ISBN (Electronic)9781467390415
DOIs
Publication statusPublished - Dec 28 2016
Event8th Joint International Conference on Soft Computing and Intelligent Systems and 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016 - Sapporo, Hokkaido, Japan
Duration: Aug 25 2016Aug 28 2016

Publication series

NameProceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016

Other

Other8th Joint International Conference on Soft Computing and Intelligent Systems and 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016
CountryJapan
CitySapporo, Hokkaido
Period8/25/168/28/16

Fingerprint

Motion Analysis
Mathematical Modeling
Wheel
Wheels
Ball
Point contacts
Grasping
Contact
Mobile Robot
Mobile robots
Kinematics
Robot
Robots
Cuboid
Motion analysis
Robot Control
Inverted Pendulum
Motion
Motion Control
Motion control

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Artificial Intelligence
  • Software
  • Computational Mathematics
  • Modelling and Simulation

Cite this

Kimura, K., Ishii, K., Takemura, Y., & Yamamoto, M. (2016). Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism. In Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016 (pp. 518-523). [7801702] (Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2016.0115

Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism. / Kimura, Kenji; Ishii, Kazuo; Takemura, Yasunori; Yamamoto, Motoji.

Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 518-523 7801702 (Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016).

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

Kimura, K, Ishii, K, Takemura, Y & Yamamoto, M 2016, Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism. in Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016., 7801702, Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016, Institute of Electrical and Electronics Engineers Inc., pp. 518-523, 8th Joint International Conference on Soft Computing and Intelligent Systems and 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016, Sapporo, Hokkaido, Japan, 8/25/16. https://doi.org/10.1109/SCIS-ISIS.2016.0115
Kimura K, Ishii K, Takemura Y, Yamamoto M. Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism. In Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 518-523. 7801702. (Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016). https://doi.org/10.1109/SCIS-ISIS.2016.0115
Kimura, Kenji ; Ishii, Kazuo ; Takemura, Yasunori ; Yamamoto, Motoji. / Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism. Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 518-523 (Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016).
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