TY - GEN
T1 - A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors
AU - Svinin, Mikhail Mikhailovich
AU - Morinaga, Akihiro
AU - Yamamoto, Motoji
PY - 2013/1/1
Y1 - 2013/1/1
N2 - The paper addresses the problem of reconfiguring a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The problem is stated in dynamic formulation. 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. A working model for solving the motion planning problem is obtained by modifying the contact kinematic equations by the condition of dynamic realizability which constrains the component of the angular velocity of the rolling carrier and depends on the mass distribution. By using a motion planning strategy based on tracing a figure eight on the sphere, an exact and dynamically realizable motion planning algorithm is fabricated and verified under simulation. It is shown that the dynamically realizable contact paths are shorter and essentially different than those resulted from the kinematic model of pure rolling.
AB - The paper addresses the problem of reconfiguring a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The problem is stated in dynamic formulation. 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. A working model for solving the motion planning problem is obtained by modifying the contact kinematic equations by the condition of dynamic realizability which constrains the component of the angular velocity of the rolling carrier and depends on the mass distribution. By using a motion planning strategy based on tracing a figure eight on the sphere, an exact and dynamically realizable motion planning algorithm is fabricated and verified under simulation. It is shown that the dynamically realizable contact paths are shorter and essentially different than those resulted from the kinematic model of pure rolling.
UR - http://www.scopus.com/inward/record.url?scp=84907316067&partnerID=8YFLogxK
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U2 - 10.1109/ICMA.2013.6617884
DO - 10.1109/ICMA.2013.6617884
M3 - Conference contribution
AN - SCOPUS:84907316067
SN - 9781467355582
T3 - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
SP - 1
EP - 6
BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
PB - IEEE Computer Society
T2 - 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Y2 - 4 August 2013 through 7 August 2013
ER -