On the dynamic model and motion planning for a class of spherical rolling robots

Mikhail Svinin, Akihiro Morinaga, Motoji Yamamoto

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

16 Citations (Scopus)

Abstract

The paper deals with the dynamics and motion planning for a spherical rolling robot actuated by internal rotors that are placed on orthogonal axes. The driving principle for such a robot exploits non-holonomic constraints to propel the rolling carrier. The full mathematical model as well as its reduced version are derived, and the inverse dynamics is addressed. It is shown that if the rotors are mounted on three orthogonal axes, any feasible kinematic trajectory of the rolling robot is dynamically realizable. For the case of only two orthogonal axes of the actuation the condition of dynamic realizability of a feasible kinematic trajectory is established. The implication of this condition to motion planning in dynamic formulation is explored under a case study. It is shown there that in maneuvering the robot by tracing circles on the sphere surface the dynamically realizable trajectories are essentially different from those resulted from kinematic models.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3226-3231
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

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

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

Fingerprint

Motion planning
Dynamic models
Robots
Kinematics
Trajectories
Rotors
Mathematical models

All Science Journal Classification (ASJC) codes

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

Cite this

Svinin, M., Morinaga, A., & Yamamoto, M. (2012). On the dynamic model and motion planning for a class of spherical rolling robots. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3226-3231). [6224795] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224795

On the dynamic model and motion planning for a class of spherical rolling robots. / Svinin, Mikhail; Morinaga, Akihiro; Yamamoto, Motoji.

2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 3226-3231 6224795 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Svinin, M, Morinaga, A & Yamamoto, M 2012, On the dynamic model and motion planning for a class of spherical rolling robots. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224795, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3226-3231, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224795
Svinin M, Morinaga A, Yamamoto M. On the dynamic model and motion planning for a class of spherical rolling robots. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 3226-3231. 6224795. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2012.6224795
Svinin, Mikhail ; Morinaga, Akihiro ; Yamamoto, Motoji. / On the dynamic model and motion planning for a class of spherical rolling robots. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. pp. 3226-3231 (Proceedings - IEEE International Conference on Robotics and Automation).
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