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

Fingerprint

Motion planning

All Science Journal Classification (ASJC) codes

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

Cite this

Svinin, M. M., & Hosoe, S. (2006). Simple motion planning algorithms for ball-plate systems with limited contact area. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (Vol. 2006, pp. 1755-1761). [1641960] https://doi.org/10.1109/ROBOT.2006.1641960

Simple motion planning algorithms for ball-plate systems with limited contact area. / Svinin, Mikhail Mikhailovich; Hosoe, Shigeyuki.

Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Vol. 2006 2006. p. 1755-1761 1641960.

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

Svinin, MM & Hosoe, S 2006, Simple motion planning algorithms for ball-plate systems with limited contact area. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. vol. 2006, 1641960, pp. 1755-1761, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1641960
Svinin MM, Hosoe S. Simple motion planning algorithms for ball-plate systems with limited contact area. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Vol. 2006. 2006. p. 1755-1761. 1641960 https://doi.org/10.1109/ROBOT.2006.1641960
Svinin, Mikhail Mikhailovich ; Hosoe, Shigeyuki. / Simple motion planning algorithms for ball-plate systems with limited contact area. Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Vol. 2006 2006. pp. 1755-1761
@inproceedings{e2cfecebd3974eeabb3fdd69ae952926,
title = "Simple motion planning algorithms for ball-plate systems with limited contact area",
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.",
author = "Svinin, {Mikhail Mikhailovich} and Shigeyuki Hosoe",
year = "2006",
month = "12",
day = "27",
doi = "10.1109/ROBOT.2006.1641960",
language = "English",
isbn = "0780395069",
volume = "2006",
pages = "1755--1761",
booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",

}

TY - GEN

T1 - Simple motion planning algorithms for ball-plate systems with limited contact area

AU - Svinin, Mikhail Mikhailovich

AU - Hosoe, Shigeyuki

PY - 2006/12/27

Y1 - 2006/12/27

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=33845634824&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33845634824&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2006.1641960

DO - 10.1109/ROBOT.2006.1641960

M3 - Conference contribution

SN - 0780395069

SN - 9780780395060

VL - 2006

SP - 1755

EP - 1761

BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

ER -