Motion planning algorithms for a rolling sphere with limited contact area

Mikhail Svinin, Shigeyuki Hosoe

研究成果: ジャーナルへの寄稿学術誌査読

30 被引用数 (Scopus)

抄録

The paper deals with the motion planning problem for a rolling sphere with limited contact area. The system under consideration is represented by a hemispherical object that can roll without slipping or spinning on the plane. Under the constraints imposed on the size of the contact area, the construction of motion can be regarded as a problem of parallel parking in a finite number of movement steps. A motion strategy, realizing the movement steps by tracing generalized figure eights on the hemisphere, is introduced. Two different algorithms for this motion strategy, the circle-based and the generalized Viviani-curve-based ones, are proposed. The convergence of the algorithms is analyzed, and the computational feasibility of these algorithms is verified under simulation.

本文言語英語
ページ(範囲)612-625
ページ数14
ジャーナルIEEE Transactions on Robotics
24
3
DOI
出版ステータス出版済み - 6月 2008
外部発表はい

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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