On the dynamic model and motion planning for a class of spherical rolling robots

Mikhail Svinin, Akihiro Morinaga, Motoji Yamamoto

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

16 被引用数 (Scopus)

抄録

The paper deals with the dynamics and motion planning for a spherical rolling robot actuated by internal rotors that are placed on orthogonal axes. The driving principle for such a robot exploits non-holonomic constraints to propel the rolling carrier. The full mathematical model as well as its reduced version are derived, and the inverse dynamics is addressed. It is shown that if the rotors are mounted on three orthogonal axes, any feasible kinematic trajectory of the rolling robot is dynamically realizable. For the case of only two orthogonal axes of the actuation the condition of dynamic realizability of a feasible kinematic trajectory is established. The implication of this condition to motion planning in dynamic formulation is explored under a case study. It is shown there that in maneuvering the robot by tracing circles on the sphere surface the dynamically realizable trajectories are essentially different from those resulted from kinematic models.

本文言語英語
ホスト出版物のタイトル2012 IEEE International Conference on Robotics and Automation, ICRA 2012
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3226-3231
ページ数6
ISBN(印刷版)9781467314039
DOI
出版ステータス出版済み - 1 1 2012
イベント 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, 米国
継続期間: 5 14 20125 18 2012

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

その他

その他 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
国/地域米国
CitySaint Paul, MN
Period5/14/125/18/12

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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