Dynamic model, haptic solution, and human-inspired motion planning for rolling-based manipulation

Igor Goncharenko, Mikhail Svinin, Shigeyuki Hosoe

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


A virtual reality haptic system for capturing skillful human movements in control of a hemisphere rolling on a plane without slipping is presented in this paper. A dynamic model of this nonholonomic rolling system with configuration-dependent inertia and gravity is derived, and a solver, required for the real-time haptic interaction, is implemented. The performance of the haptic system is verified under experiments with human subjects. Experimental data recorded by the haptic system are analyzed and some common features of human movements in the precession phase of the manipulation of the rolling system are observed. Finally, a simple actuation scheme, capturing these features, is proposed and verified under simulation.

Original languageEnglish
Pages (from-to)1-10
Number of pages10
JournalJournal of Computing and Information Science in Engineering
Issue number1
Publication statusPublished - Mar 2009
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Software
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design
  • Industrial and Manufacturing Engineering


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