On motion planning for ball-plate systems with limited contact area

Mikhail Svinin, Shigeyuki Hosoe

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

3 Citations (Scopus)

Abstract

The paper deals with motion planning for rolling-based systems with limited contact area. In a simplified formulation, the driving principle for such systems is based on controlling the position of the center of mass of the object, exploiting non-holonomic rolling constraint to propel the hemisphere. Two geometric algorithms for motion planning are formulated, analyzed, and tested under simulation. The simulation results show the possibility of moving the system to the desired configurations by steering the contact point on the hemisphere by generalized figure eights represented by circles and Viviani's curves.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages1820-1825
Number of pages6
DOIs
Publication statusPublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

All Science Journal Classification (ASJC) codes

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

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