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

18 引用 (Scopus)

抜粋

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

All Science Journal Classification (ASJC) codes

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

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