On the motion planning problem for a spherical rolling robot driven by two rotors

Akihiro Morinaga, Mikhail Svinin, Motoji Yamamoto

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

6 Citations (Scopus)

Abstract

The paper deals with the motion planning for a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The condition of controllability is derived and it is shown that the robot is controllable unless the contact trajectory goes along the equatorial line in the plane of the two rotors. The dynamic motion planning problem is then formulated, and an approach based on the nilpotentization of the originally non-nilpotent robot dynamics and on the three step motion panning strategy is explored. A nilpotent approximation is constructed and used for iterative steering of the rolling robot. The initial simulations show the feasibility of this approach.

Original languageEnglish
Title of host publication2012 IEEE/SICE International Symposium on System Integration, SII 2012
Pages704-709
Number of pages6
DOIs
Publication statusPublished - Dec 1 2012
Event2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, Japan
Duration: Dec 16 2012Dec 18 2012

Publication series

Name2012 IEEE/SICE International Symposium on System Integration, SII 2012

Other

Other2012 IEEE/SICE International Symposium on System Integration, SII 2012
CountryJapan
CityFukuoka
Period12/16/1212/18/12

All Science Journal Classification (ASJC) codes

  • Information Systems

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