On the motion planning problem for a spherical rolling robot driven by two rotors

Akihiro Morinaga, Mikhail Svinin, Motoji Yamamoto

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

6 被引用数 (Scopus)

抄録

The paper deals with the motion planning for a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The condition of controllability is derived and it is shown that the robot is controllable unless the contact trajectory goes along the equatorial line in the plane of the two rotors. The dynamic motion planning problem is then formulated, and an approach based on the nilpotentization of the originally non-nilpotent robot dynamics and on the three step motion panning strategy is explored. A nilpotent approximation is constructed and used for iterative steering of the rolling robot. The initial simulations show the feasibility of this approach.

本文言語英語
ホスト出版物のタイトル2012 IEEE/SICE International Symposium on System Integration, SII 2012
ページ704-709
ページ数6
DOI
出版ステータス出版済み - 12 1 2012
イベント2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, 日本
継続期間: 12 16 201212 18 2012

出版物シリーズ

名前2012 IEEE/SICE International Symposium on System Integration, SII 2012

その他

その他2012 IEEE/SICE International Symposium on System Integration, SII 2012
Country日本
CityFukuoka
Period12/16/1212/18/12

All Science Journal Classification (ASJC) codes

  • Information Systems

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