IEEE - Institute of Electrical and Electronics Engineers, Inc. - On the geometric phase approach to motion planning for a spherical rolling robot in dynamic formulation

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Mikhail Svinin ; Akihiro Morinaga ; Motoji Yamamoto
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 2,413 - 2,418
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696695
Regular:

The paper deals with the problem of motion planning for a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. To solve the problem, we employ the so-called... View More

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