Planning of smooth motions for a ball-plate system with limited contact area

Mikhail Svinin, Shigeyuki Hosoe

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

5 Citations (Scopus)

Abstract

The paper deals with the motion planning for a rolling system with limited contact area. The system under consideration is represented by a hemispherical object that can roll without slipping or spinning on the plane. Under the constraints imposed on the size of the contact area, the construction of motion can be regarded as a problem of parallel parking in a finite number of movement steps. A motion planning algorithm, realizing the movement steps by tracing smooth figure eights on the hemisphere, is introduced. To generate asymmetric figure eights, a generalization of the Viviani curve is proposed. An exceptional case of the algorithm, corresponding to a spinning maneuver, is constructed with the use of the Cassini curve. The convergence of the algorithm is analyzed and its computational feasibility is verified under simulation.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages1193-1200
Number of pages8
DOIs
Publication statusPublished - Sep 18 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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