Simple motion planning algorithms for ball-plate systems with limited contact area

Mikhail Mikhailovich Svinin, Shigeyuki Hosoe

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

4 Citations (Scopus)

Abstract

The paper deals with motion planning for rolling-based systems with limited contact area. To understand the problem we resort to a simplified quasi-static model in which the locomotion object is represented by a mass point. In this formulation, the driving principle is based on controlling the position of the center of mass of the object, exploiting non-holonomic rolling constraint to propel the hemisphere. Two motion planning algorithms are proposed. The algorithms are tested under simulation. The simulation results show the possibility of steering the locomotion system to the desired configurations by moving the center of mass through multiple generalized figure eights on the main hemisphere plane.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1755-1761
Number of pages7
Volume2006
DOIs
Publication statusPublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

All Science Journal Classification (ASJC) codes

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

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