On the geometric phase approach to motion planning for a spherical rolling robot in dynamic formulation

Mikhail Mikhailovich Svinin, Akihiro Morinaga, Motoji Yamamoto

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

1 Citation (Scopus)

Abstract

The paper deals with the problem of motion planning for a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. To solve the problem, we employ the so-called geometric phase approach based on the fact that tracing a closed path in the space of input variables results in a non-closed path in the space of output variables. To set up the governing equations, the contact kinematic equations are modified by the condition of dynamic realizability, which constrains the component of the angular velocity of the rolling carrier and depends on the mass distribution, and parameterized. By using a motion planning strategy based on tracing two circles on the spherical surface, an exact and dynamically realizable motion planning algorithm is fabricated and verified under simulation.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages2413-2418
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

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., Morinaga, A., & Yamamoto, M. (2013). On the geometric phase approach to motion planning for a spherical rolling robot in dynamic formulation. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2413-2418). [6696695] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696695