TY - GEN
T1 - On the motion planning problem for a spherical rolling robot driven by two rotors
AU - Morinaga, Akihiro
AU - Svinin, Mikhail
AU - Yamamoto, Motoji
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
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U2 - 10.1109/SII.2012.6427339
DO - 10.1109/SII.2012.6427339
M3 - Conference contribution
AN - SCOPUS:84874253398
SN - 9781467314961
T3 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
SP - 704
EP - 709
BT - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
T2 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
Y2 - 16 December 2012 through 18 December 2012
ER -