TY - GEN
T1 - Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism
AU - Kimura, Kenji
AU - Ishii, Kazuo
AU - Takemura, Yasunori
AU - Yamamoto, Motoji
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/28
Y1 - 2016/12/28
N2 - The sphere kinematics has been discussed in the research field of multi-fingers grasping, mobile robot motion control driven by a sphere, ball handling, etc. In the multi-fingers grasping problem, a sphere and a plane correspond to a spherical finger and a cuboid object are used and the contact points of the sphere are analyzed. The mobile robot driven by a sphere is modeled as an inverted pendulum using a ball, and can move in any direction without changing orientation. The ball handling mechanism is discussed in the RoboCup soccer robot, which enables the robot to carry a ball with it. We consider that these problems are categorized as sphere kinematics, the relation between velocities of contact points and sphere motion, and discuss the sphere motion driven by two-wheel actuator with arbitral contact points on the sphere.
AB - The sphere kinematics has been discussed in the research field of multi-fingers grasping, mobile robot motion control driven by a sphere, ball handling, etc. In the multi-fingers grasping problem, a sphere and a plane correspond to a spherical finger and a cuboid object are used and the contact points of the sphere are analyzed. The mobile robot driven by a sphere is modeled as an inverted pendulum using a ball, and can move in any direction without changing orientation. The ball handling mechanism is discussed in the RoboCup soccer robot, which enables the robot to carry a ball with it. We consider that these problems are categorized as sphere kinematics, the relation between velocities of contact points and sphere motion, and discuss the sphere motion driven by two-wheel actuator with arbitral contact points on the sphere.
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U2 - 10.1109/SCIS-ISIS.2016.0115
DO - 10.1109/SCIS-ISIS.2016.0115
M3 - Conference contribution
AN - SCOPUS:85010303405
T3 - Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016
SP - 518
EP - 523
BT - Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th Joint International Conference on Soft Computing and Intelligent Systems and 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016
Y2 - 25 August 2016 through 28 August 2016
ER -