TY - GEN
T1 - Motion planning for a pendulum-driven rolling robot tracing spherical contact curves
AU - Bai, Yang
AU - Svinin, Mikhail
AU - Yamamoto, Motoji
PY - 2015/12/11
Y1 - 2015/12/11
N2 - This paper deals with motion planning problems for spherical rolling robots driven by a two degree of freedom pendulum. A full dynamic model for this system is first introduced. Then, assuming that the contact path is specified and the sphere moves in pure rolling mode, the full dynamic model is reduced by imposing virtual constraints. A timing control law, based on the Beta function, for tracing the contact curves in rest-to-rest motion is constructed. The constructed control law is verified under simulation for tracing Viviani's curve and the Loxodrome on the sphere.
AB - This paper deals with motion planning problems for spherical rolling robots driven by a two degree of freedom pendulum. A full dynamic model for this system is first introduced. Then, assuming that the contact path is specified and the sphere moves in pure rolling mode, the full dynamic model is reduced by imposing virtual constraints. A timing control law, based on the Beta function, for tracing the contact curves in rest-to-rest motion is constructed. The constructed control law is verified under simulation for tracing Viviani's curve and the Loxodrome on the sphere.
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U2 - 10.1109/IROS.2015.7353949
DO - 10.1109/IROS.2015.7353949
M3 - Conference contribution
AN - SCOPUS:84958165058
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4053
EP - 4058
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -