TY - GEN
T1 - On the dynamics and motion planning for a rolling system with variable inertia
AU - Svinin, Mikhail
AU - Hosoe, Shigeyuki
PY - 2007
Y1 - 2007
N2 - The paper deals with the dynamics and motion planning for a rolling system with variable inertia. In a simplified formulation, the driving principle for the system under consideration is based on controlling the position of the center of mass of the object, exploiting non-holonomic rolling constraint to propel the hemisphere. We derive the dynamic model of this system and establish the condition of motion realizability. Providing that this condition holds true, we derive an approximate analytical solution for the trajectory of the particle, driving the system along a pre-specified path in the contact coordinates. The approximation is based on ignoring the quadratic velocity terms in the dynamic equations.
AB - The paper deals with the dynamics and motion planning for a rolling system with variable inertia. In a simplified formulation, the driving principle for the system under consideration is based on controlling the position of the center of mass of the object, exploiting non-holonomic rolling constraint to propel the hemisphere. We derive the dynamic model of this system and establish the condition of motion realizability. Providing that this condition holds true, we derive an approximate analytical solution for the trajectory of the particle, driving the system along a pre-specified path in the contact coordinates. The approximation is based on ignoring the quadratic velocity terms in the dynamic equations.
UR - http://www.scopus.com/inward/record.url?scp=51349087703&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349087703&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399242
DO - 10.1109/IROS.2007.4399242
M3 - Conference contribution
AN - SCOPUS:51349087703
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3315
EP - 3320
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -