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

Content Provider	IEEE Xplore Digital Library
Author	Svinin, M. Yang Bai Yamamoto, M.
Copyright Year	2015
Description	Author affiliation: Mech. Eng. Dept., Kyushu Univ., Fukuoka, Japan (Svinin, M.; Yang Bai; Yamamoto, M.)
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.
Starting Page	656
Ending Page	661
File Size	893642
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139249
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Mathematical model Trajectory Dynamics Kinematics Robot kinematics
Content Type	Text
Resource Type	Article

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