Dynamic model and motion planning for a pendulum-actuated spherical rolling robot

Mikhail Mikhailovich Svinin, Yang Bai, Motoji Yamamoto

研究成果: ジャーナルへの寄稿Conference article

15 引用 (Scopus)

抄録

This paper deals with the dynamics and motion planning for a spherical rolling robot with a pendulum actuated by two motors. First a dynamic model for the rolling robot is established. In general, not all feasible kinematic trajectories of the rolling carrier are dynamically realizable. A notable exception is when the contact trajectories on the sphere and on the plane are geodesic lines. Based on this consideration, a motion planning strategy for complete reconfiguration of the rolling robot is proposed. The strategy consists of two trivial movements and a non-trivial maneuver that is based on tracing multiple spherical triangles. To compute the sizes and the number of triangles, a reachability diagram is constructed. To define the control torques realizing the rest-to-rest motion along the geodesic lines, two possible approaches are suggested. A computational algorithm, implementing the motion planning strategy, is developed and verified under simulation.

元の言語英語
記事番号7139249
ページ(範囲)656-661
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2015-June
発行部数June
DOI
出版物ステータス出版済み - 6 29 2015
イベント2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, 米国
継続期間: 5 26 20155 30 2015

Fingerprint

Pendulums
Motion planning
Dynamic models
Robots
Trajectories
Torque control
Kinematics

All Science Journal Classification (ASJC) codes

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

これを引用

Dynamic model and motion planning for a pendulum-actuated spherical rolling robot. / Svinin, Mikhail Mikhailovich; Bai, Yang; Yamamoto, Motoji.

:: Proceedings - IEEE International Conference on Robotics and Automation, 巻 2015-June, 番号 June, 7139249, 29.06.2015, p. 656-661.

研究成果: ジャーナルへの寄稿Conference article

@article{38b51569bb7942aba0a8e1f419c4ac77,
title = "Dynamic model and motion planning for a pendulum-actuated spherical rolling robot",
abstract = "This paper deals with the dynamics and motion planning for a spherical rolling robot with a pendulum actuated by two motors. First a dynamic model for the rolling robot is established. In general, not all feasible kinematic trajectories of the rolling carrier are dynamically realizable. A notable exception is when the contact trajectories on the sphere and on the plane are geodesic lines. Based on this consideration, a motion planning strategy for complete reconfiguration of the rolling robot is proposed. The strategy consists of two trivial movements and a non-trivial maneuver that is based on tracing multiple spherical triangles. To compute the sizes and the number of triangles, a reachability diagram is constructed. To define the control torques realizing the rest-to-rest motion along the geodesic lines, two possible approaches are suggested. A computational algorithm, implementing the motion planning strategy, is developed and verified under simulation.",
author = "Svinin, {Mikhail Mikhailovich} and Yang Bai and Motoji Yamamoto",
year = "2015",
month = "6",
day = "29",
doi = "10.1109/ICRA.2015.7139249",
language = "English",
volume = "2015-June",
pages = "656--661",
journal = "Proceedings - IEEE International Conference on Robotics and Automation",
issn = "1050-4729",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "June",

}

TY - JOUR

T1 - Dynamic model and motion planning for a pendulum-actuated spherical rolling robot

AU - Svinin, Mikhail Mikhailovich

AU - Bai, Yang

AU - Yamamoto, Motoji

PY - 2015/6/29

Y1 - 2015/6/29

N2 - This paper deals with the dynamics and motion planning for a spherical rolling robot with a pendulum actuated by two motors. First a dynamic model for the rolling robot is established. In general, not all feasible kinematic trajectories of the rolling carrier are dynamically realizable. A notable exception is when the contact trajectories on the sphere and on the plane are geodesic lines. Based on this consideration, a motion planning strategy for complete reconfiguration of the rolling robot is proposed. The strategy consists of two trivial movements and a non-trivial maneuver that is based on tracing multiple spherical triangles. To compute the sizes and the number of triangles, a reachability diagram is constructed. To define the control torques realizing the rest-to-rest motion along the geodesic lines, two possible approaches are suggested. A computational algorithm, implementing the motion planning strategy, is developed and verified under simulation.

AB - This paper deals with the dynamics and motion planning for a spherical rolling robot with a pendulum actuated by two motors. First a dynamic model for the rolling robot is established. In general, not all feasible kinematic trajectories of the rolling carrier are dynamically realizable. A notable exception is when the contact trajectories on the sphere and on the plane are geodesic lines. Based on this consideration, a motion planning strategy for complete reconfiguration of the rolling robot is proposed. The strategy consists of two trivial movements and a non-trivial maneuver that is based on tracing multiple spherical triangles. To compute the sizes and the number of triangles, a reachability diagram is constructed. To define the control torques realizing the rest-to-rest motion along the geodesic lines, two possible approaches are suggested. A computational algorithm, implementing the motion planning strategy, is developed and verified under simulation.

UR - http://www.scopus.com/inward/record.url?scp=84938228080&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84938228080&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2015.7139249

DO - 10.1109/ICRA.2015.7139249

M3 - Conference article

AN - SCOPUS:84938228080

VL - 2015-June

SP - 656

EP - 661

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

IS - June

M1 - 7139249

ER -