Proceedings Article10.1109/ROBOT.2002.1014796
A local-local planning algorithm for rolling objects
A. Marigo,Antonio Bicchi +1 more
- 07 Aug 2002
- Vol. 2, pp 1759-1764
TL;DR: A novel algorithm that improves upon existing techniques in that it is finitely computable and predictable, and possesses a topological property which enables obstacles and workspace limitations to be dealt with in an effective way.
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Abstract: In this paper, we consider planning motions of objects of regular shape rolling on a plane among obstacles Theoretical foundations and applications of this type of operations in robotic manipulation and locomotion have been discussed elsewhere In this paper, we propose a novel algorithm that improves upon existing techniques in that: i) it is finitely computable and predictable (an upper bound on the computations necessary to reach a given goal within a tolerance can be given), and ii) it possesses a topological (local-local) property which enables obstacles and workspace limitations to be dealt with in an effective way
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Citations
Path tracking control of a spherical mobile robot
Yao Cai,Qiang Zhan,Xi Xi +2 more
TL;DR: In this article, a hierarchical sliding mode controller is integrated with the fuzzy guidance scheme through a backstepping strategy to deal with the dynamics of a spherical robot with a 2 DOF pendulum.
107
A framework for the stabilization of general nonholonomic systems with an application to the plate-ball mechanism
Giuseppe Oriolo,Marilena Vendittelli +1 more
- 01 Apr 2005
TL;DR: This work presents a framework for the stabilization of nonholonomic systems that do not possess special properties such as flatness or exact nilpotentizability, and proposes a stabilizing controller for the plate-ball manipulation system.
Optimal motion planning and control of a nonholonomic spherical robot using dynamic programming approach: simulation and experimental results
TL;DR: Dynamic Programming as a direct and online approach is used to navigate the robot in an environment with/without obstacles and enables the robot to find an optimal trajectory from any given state towards a predefined target.
40
Two-state trajectory tracking control of a spherical robot using neurodynamics
Yao Cai,Qiang Zhan,Caixia Yan +2 more
TL;DR: A two-state trajectory tracking controller is proposed for BHQ-1, a spherical robot designed by the lab, of which the Lyapunov stability is validated and can be applied to the control of other spherical robots.
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DP-based path planning of a spherical mobile robot in an environment with obstacles
TL;DR: Results from several simulated experiments show that the proposed approach is capable of finding an optimal path from any given position/orientation towards a predefined target in an environment with obstacles within the admissible region and is very promising compared to other path planning schemes.
18
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Motion control of a spherical mobile robot
Aarne Halme,Torsten Schönberg,Yan Wang +2 more
- 18 Mar 1996
TL;DR: The spherical construction offers extraordinary motion properties in cases where turning over or falling down are risks for the robot to continue its motion, and has full capability to recover from collisions with obstacles or another robots traveling in the environment.
333
Introducing the "SPHERICLE": an experimental testbed for research and teaching in nonholonomy
Antonio Bicchi,A. Balluchi,Domenico Prattichizzo,A. Gorelli +3 more
- 20 Apr 1997
TL;DR: An experimental apparatus developed in the laboratory for research and advanced teaching purposes that consists of an untethered spherical vehicle that autonomously rolls on the laboratory floor, and can reach arbitrary positions and orientations in the environment.
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