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

Mikhail Mikhailovich Svinin; Shigeyuki Hosoe

doi:10.1109/IROS.2007.4399242

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

Mikhail Mikhailovich Svinin, Shigeyuki Hosoe

Faculty of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (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 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	https://doi.org/10.1109/IROS.2007.4399242
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/Territory	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

Access to Document

10.1109/IROS.2007.4399242

Cite this

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

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AB - 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.

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

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