Abstract
The paper deals with the dynamics and motion planning for a rolling system with variable inertia. In a simplified formulation, the driving principle for the system under consideration is based on controlling the position of the center of mass of the object, exploiting non-holonomic rolling constraint to propel the hemisphere. We derive the dynamic model of this system and establish the condition of motion realizability. Providing that this condition holds true, we derive an approximate analytical solution for the trajectory of the particle, driving the system along a pre-specified path in the contact coordinates. The approximation is based on ignoring the quadratic velocity terms in the dynamic equations.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 |
| Pages | 3315-3320 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - Dec 1 2007 |
| Event | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: Oct 29 2007 → Nov 2 2007 |
Other
| Other | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 |
|---|---|
| Country | United States |
| City | San Diego, CA |
| Period | 10/29/07 → 11/2/07 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
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Cite this
Svinin, M. M., & Hosoe, S. (2007). On the dynamics and motion planning for a rolling system with variable inertia. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 3315-3320). [4399242] https://doi.org/10.1109/IROS.2007.4399242