Simple motion planning algorithms for ball-plate systems with limited contact area

Mikhail Svinin; Shigeyuki Hosoe

doi:10.1109/ROBOT.2006.1641960

Simple motion planning algorithms for ball-plate systems with limited contact area

Mikhail Svinin, Shigeyuki Hosoe

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

The paper deals with motion planning for rolling-based systems with limited contact area. To understand the problem we resort to a simplified quasi-static model in which the locomotion object is represented by a mass point. In this formulation, the driving principle is based on controlling the position of the center of mass of the object, exploiting non-holonomic rolling constraint to propel the hemisphere. Two motion planning algorithms are proposed. The algorithms are tested under simulation. The simulation results show the possibility of steering the locomotion system to the desired configurations by moving the center of mass through multiple generalized figure eights on the main hemisphere plane.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	1755-1761
Number of pages	7
DOIs	https://doi.org/10.1109/ROBOT.2006.1641960
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Other

Other	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	5/15/06 → 5/19/06

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2006.1641960

Cite this

Simple motion planning algorithms for ball-plate systems with limited contact area. / Svinin, Mikhail; Hosoe, Shigeyuki.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1755-1761 1641960 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Svinin, M & Hosoe, S 2006, Simple motion planning algorithms for ball-plate systems with limited contact area. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641960, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1755-1761, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1641960

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Simple motion planning algorithms for ball-plate systems with limited contact area

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All Science Journal Classification (ASJC) codes

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