single-rb.php

JRM Vol.17 No.5 pp. 537-545
doi: 10.20965/jrm.2005.p0537
(2005)

Paper:

Motion Planning for Rolling-Based Locomotion

Kodai Suzuki*, Mikhail Svinin**, and Shigeyuki Hosoe**,***

*Electronics Department, NGK Insulators, Ltd., 1716 Kosaka, Meito-ku, Nagoya 465-0007, Japan

**Bio-Mimetic Control Research Center, RIKEN, Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan

***Department of Electronic-Mechanical Engineering, Nagoya University, Chikusa-ku, Nagoya 464-8603, Japan

Received:
May 2, 2005
Accepted:
August 17, 2005
Published:
October 20, 2005
Keywords:
nonholonomic constraints, locomotion, rolling, motion planning
Abstract

The basic motivation of this paper is to study locomotion on a hemisphere. 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. The principle is tested under simulation using two motion planning algorithms. The simulation results show the possibility of steering the loocmotion system to the desired configurations by moving the center of mass through multiple generalized figure eights on the main hemisphere plane.

Cite this article as:
Kodai Suzuki, Mikhail Svinin, and Shigeyuki Hosoe, “Motion Planning for Rolling-Based Locomotion,” J. Robot. Mechatron., Vol.17, No.5, pp. 537-545, 2005.
Data files:
References
  1. [1] J. Kerr, and B. Roth, “Analysis of multifingered hands,” The International Journal of Robotics Research, 4(4), pp. 3-17, 1986.
  2. [2] D. J. Montana, “The kinematics of contact and grasp,” The International Journal of Robotics Research, 7(3), pp. 17-32, 1988.
  3. [3] R. Murray, Z. Li, and S. Sastry, “A Mathematical Introduction to Robotic Manipulation,” CRC Press: Boca Raton, 1994.
  4. [4] N. Sarkar, X. Yin, and V. Kumar, “Dynamic control of 3-D rolling contacts in two-arm manipulation,” IEEE Transactions on Robotics and Automation, 13(3), pp. 364-376, 1997.
  5. [5] K. Harada, M. Kaneko, and T. Tsuji, “Rolling based manipulation for multiple objects,” IEEE Transactions on Robotics and Automation, 16(5), pp. 457-468, 2000.
  6. [6] A. Bicchi, A. Balluchi, D. Prattichizzo, and A. Gorelli, “Introducing the “Sphericle”: An experimental testbed for research and teaching in nonholonomy,” Proc. IEEE Int. Conference on Robotics and Automation, Albuquerque, New Mexico, Vol.3, pp. 2620-2625, 1997.
  7. [7] C. Camicia, F. Conticelli, and A. Bicchi, “Nonholonomic kinematics and dynamics of the Sphericle,” Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Takamatsu, Japan, pp. 805-810, 2000.
  8. [8] S. Bhattacharya, and S. Agrawal, “Spherical rolling robot: A design and motion planning studies,” IEEE Transactions on Robotics and Automation, 16(6), pp. 835-839, 2000.
  9. [9] A. H. Javadi, and P. Mojabi, “Introducing Glory: A novel strategy for an omnidirectional spherical rolling robot,” ASME Journal of Dynamic Systems, Measurement, and Control, 126(3), pp. 678-683, 2004.
  10. [10] K. Harada, T. Kawashima, and M. Kaneko, “Rolling based manipulation under neighborhood equilibrium,” The International Journal of Robotics Research, 21(5-6), pp. 463-474, 2002.
  11. [11] R. Balasubramanian, A. Rizzi, and M. Mason, “Legless locomotion for legged robots,” Technical Report CMU-RI-TR-04-05, The Robotics Institute, Carnegie Mellon University, 2003.
  12. [12] Z. Li, and J. Canny, “Motion of two rigid bodies with rolling constraint,” IEEE Transactions on Robotics and Automation, 6(1), pp. 62-72, 1990.
  13. [13] R. Mukherjee, M. Minor, and J. Pukrushpan, “Motion planning for a spherical mobile robot: Revisiting the classical ball-plate problem,” ASME Journal of Dynamic Systems, Measurement and Control, 124(4), pp. 502-511, 2002.
  14. [14] A. Bicchi, and R. Sorrentino, “Dextrous manipulation through rolling,” Proc. IEEE Int. Conference on Robotics and Automation, Vol.1, Nagoya, Japan, pp. 452-457, 1995.
  15. [15] L. Han, Y. Guan, Z. Li, Q. Shi, and J. Trinkle, “Dextrous manipulation with rolling contacts,” Proc. IEEE Int. Conference on Robotics and Automation, Albuquerque, New Mexico, Vol.2, pp. 992-997, 1997.
  16. [16] B. O’Neill, “Elementary Differential Geometry,” Academic Press: Second ed., 1997.
  17. [17] D. J. Montana, “Contact stability for two-fingered grasps,” IEEE Transactions on Robotics and Automation, 8(4), pp. 421-430, 1992.
  18. [18] Yu. Neimark, and N. Fufaev, “Dynamics of Nonholonomic Systems,” Vol.33 of Translation of Mathematical Monographs, American Mathematical Society, 1972.
  19. [19] T. Flash, and N. Hogan, “The coordination of arm movements: An experimentally confirmed mathematical model,” The Journal of Neuroscience, 5(7), pp. 1688-1703, 1985.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Mar. 01, 2021