NDLI: A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors

Content Provider	IEEE Xplore Digital Library
Author	Svinin, M. Morinaga, A. Yamamoto, M.
Copyright Year	2013
Description	Author affiliation: Int. Res. & Educ. Center, Kyushu Univ., Fukuoka, Japan (Svinin, M.) \|\| Mech. Eng. Dept., Kyushu Univ., Fukuoka, Japan (Morinaga, A.; Yamamoto, M.)
Abstract	The paper addresses the problem of reconfiguring a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The problem is stated in dynamic formulation. To solve the problem, we employ the so-called geometric phase approach based on the fact that tracing a closed path in the space of input variables results in a non-closed path in the space of output variables. A working model for solving the motion planning problem is obtained by modifying the contact kinematic equations by the condition of dynamic realizability which constrains the component of the angular velocity of the rolling carrier and depends on the mass distribution. By using a motion planning strategy based on tracing a figure eight on the sphere, an exact and dynamically realizable motion planning algorithm is fabricated and verified under simulation. It is shown that the dynamically realizable contact paths are shorter and essentially different than those resulted from the kinematic model of pure rolling.
Starting Page	1
Ending Page	6
File Size	1004126
Page Count	6
File Format	PDF
ISBN	9781467355575
e-ISBN	9781467355605
DOI	10.1109/ICMA.2013.6617884
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-04
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Rotors Robots Mathematical model Kinematics Heuristic algorithms Dynamics
Content Type	Text
Resource Type	Article

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