On the dynamics and motion planning for a rolling system with variable inertia

Mikhail Mikhailovich Svinin, Shigeyuki Hosoe

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

1 Citation (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3315-3320
Number of pages6
DOIs
Publication statusPublished - Dec 1 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

Fingerprint

Motion planning
Dynamic models
Trajectories

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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

On the dynamics and motion planning for a rolling system with variable inertia. / Svinin, Mikhail Mikhailovich; Hosoe, Shigeyuki.

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 3315-3320 4399242.

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

Svinin, MM & 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., 4399242, pp. 3315-3320, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 10/29/07. https://doi.org/10.1109/IROS.2007.4399242
Svinin MM, Hosoe S. 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. 2007. p. 3315-3320. 4399242 https://doi.org/10.1109/IROS.2007.4399242
Svinin, Mikhail Mikhailovich ; Hosoe, Shigeyuki. / On the dynamics and motion planning for a rolling system with variable inertia. Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. pp. 3315-3320
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