An analysis of the motion planning problem for a spherical rolling robot driven by internal rotors

Mikhail Mikhailovich Svinin, Akihiro Morinaga, Motoji Yamamoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

8 被引用数 (Scopus)

抄録

The paper deals with the motion planning for a spherical rolling robot actuated by internal rotors that are placed on orthogonal axes. It is shown that if the robot is actuated by three rotors, any feasible kinematic trajectory is dynamically realizable. For the case of two rotors the conditions of controllability and dynamic realizability of a feasible kinematic trajectory are established. It is shown that in moving the robot by tracing straight lines and circles in the contact plane the dynamically realizable trajectories are not represented by the circles on the sphere, which is a feature of the kinematic model of pure rolling. The dynamic motion planning problem is then formulated in the optimal control settings, and the properties of the optimal trajectories are illustrated under simulation.

本文言語英語
ホスト出版物のタイトル2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
ページ414-419
ページ数6
DOI
出版ステータス出版済み - 12 1 2012
イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, ポルトガル
継続期間: 10 7 201210 12 2012

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

その他

その他25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
国/地域ポルトガル
CityVilamoura, Algarve
Period10/7/1210/12/12

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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