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

Morinaga, Akihiro; Yamamoto, Masahito

doi:10.1109/icra.2012.6224795

Cited by 16 publications

(12 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The axis of rotation of the i-th rotor is specified by the unit vector n i , which is the i-th column of the orientation matrix R. The aggregate control torque, generated by the two diametrically opposite rotors, is denoted by τ i , and the angle of rotation around the axis n i is denoted by ϕ i . The dynamic equations for the system under consideration are established in the following form [10]:…”

Section: Mathematical Modelmentioning

confidence: 99%

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

Morinaga

Yamamoto

2012

2012 IEEE/SICE International Symposium on System Integration (SII)

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Section: Mathematical Modelmentioning

confidence: 99%

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

Morinaga

Yamamoto

2012

2012 IEEE/SICE International Symposium on System Integration (SII)

Self Cite

View full text Add to dashboard Cite

show abstract

“…Mukherjee et al (1999Mukherjee et al ( , 2002 discuss the application of the ball-plate problem, path planning, and steering of a ball robot, while Mukherjee (2004, 2006) develop more complex rolling paths. Svinin and Hosoe (2008), Svinin et al (2012aSvinin et al ( , 2012b, and Morinaga et al (2012) discuss kinematics, dynamics and control of a ball-robot carrying six flywheels. Karimpour et al (2012), Joshi et al (2007Joshi et al ( , 2010, and Joshi and Banavar (2009) conduct an extensive discussion on a spherical robot driven by three and four momentum wheels.…”

Section: Related Workmentioning

confidence: 99%

Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots

Ylikorpi¹,

Forsman²,

Halme³

et al. 2014

ECMS 2014 Proceedings Edited By: Flaminio Squazzoni, Fabio Baronio, Claudia Archetti, Marco Castellani

View full text Add to dashboard Cite

Dynamic models describing the ball-robot motion form the basis for developments in ball-robot mechanics and motion control systems. For this paper, we have conducted a literature review of decoupled forwardmotion models for pendulum-driven ball-shaped robots. The existing models in the literature apply several different conventions in system definition and parameter notation. Even if describing the same mechanical system, the diversity in conventions leads into dynamic models with different forms. As a result, it is difficult to compare, reproduce and apply the models available in the literature. Based on the literature review, we reformulate all common variations of decoupled dynamic forward-motion models using a unified notation and formulation. We have verified all reformulated models through simulations, and present the simulation results for a selected model. In addition, we demonstrate the different system behavior resulting from different ways to apply the pendulum reaction torque, a variation that can be found in the literature. For anyone working with the ball-robots, the unified compilation of the reformulated dynamic models provides an easy access to the models, as well as to the related work.

show abstract

“…Укажем работы по динамике сферороботов, перемещающихся за счет со-здания переменного гиростатического момента (с помощью внутренних роторов) [16][17][18][19][20][21] и за счет смещения собственного центра масс [22][23][24][25][26][27]. В указанных работах приведены раз-нообразные формы уравнений динамики сферороботов и получены управляющие воздей-ствия для реализации движения по типовым траекториям.…”

Section: Introductionunclassified

The dynamic of a spherical robot with an internal omniwheel platform

Karavaev¹,

Kilin²

2015

Nelin. Dinam.

View full text Add to dashboard Cite

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

Cited by 16 publications

References 21 publications

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

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

Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots

The dynamic of a spherical robot with an internal omniwheel platform

Contact Info

Product

Resources

About