Dynamics-Based Motion Planning for a Pendulum-Actuated Spherical Rolling Robot

Yang Bai, Mikhail Svinin, Motoji Yamamoto

研究成果: ジャーナルへの寄稿学術誌査読

24 被引用数 (Scopus)

抄録

This paper deals with the dynamics and motion planning for a spherical rolling robot with a pendulum actuated by two motors. First, kinematic and dynamic models for the rolling robot are introduced. In general, not all feasible kinematic trajectories of the rolling carrier are dynamically realizable. A notable exception is when the contact trajectories on the sphere and on the plane are geodesic lines. Based on this consideration, a motion planning strategy for complete reconfiguration of the rolling robot is proposed. The strategy consists of two trivial movements and a nontrivial maneuver that is based on tracing multiple spherical triangles. To compute the sizes and the number of triangles, a reachability diagram is constructed. To define the control torques realizing the rest-to-rest motion along the geodesic lines, a geometric phase-based approach has been employed and tested under simulation. Compared with the minimum effort optimal control, the proposed technique is less computationally expensive while providing similar system performance, and thus it is more suitable for real-time applications.

本文言語英語
ページ(範囲)372-388
ページ数17
ジャーナルRegular and Chaotic Dynamics
23
4
DOI
出版ステータス出版済み - 7月 1 2018

!!!All Science Journal Classification (ASJC) codes

  • 機械工学
  • 応用数学
  • 統計物理学および非線形物理学
  • 数学(その他)
  • 数理物理学
  • モデリングとシミュレーション

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