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Paper WeD01.4

Svinin, Mikhail (Kyushu University), Morinaga, Akihiro (Kyushu University), Yamamoto, Motoji (Kyushu University)

On the Dynamic Model and Motion Planning for a Class of Spherical Rolling Robots

Scheduled for presentation during the Regular Session "Non-Holonomic Motion Planning" (WeD01), Wednesday, May 16, 2012, 17:15−17:30, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Nonholonomic Mechanisms and Systems, Nonholonomic Motion Planning, Wheeled Robots

Abstract

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.

 

 

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