A geometric motion planning for a spin-rolling sphere on a plane

DOI10.1016/J.APM.2023.05.009MaRDI QIDQ6072780zbMATH OpenFDO

Authors Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto, Yasuhisa Hirata

Publication date 13 October 2023

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1016/J.APM.2023.05.009

zbMATH Keywords

Darboux framegeometric mechanicsmotion planningshortest pathsmooth trajectoryspin-rolling

Mathematics Subject Classification ID

Nonlinear dynamics in mechanics (70K99)

Cites work

• Different models of rolling for a robot ball on a plane as a generalization of the Chaplygin ball problem
• Differential geometry of curves and surfaces
• Exponential stabilization of the rolling sphere
• Extremal trajectories and the asymptotics of the Maxwell time in the problem of the optimal rolling of a sphere on a plane
• Geometric kinematic control of a spherical rolling robot
• How to control Chaplygin's sphere using rotors
• How to control the Chaplygin ball using rotors. II
• scientific article; zbMATH DE number 3511136 (Why is no real title available?)
• scientific article; zbMATH DE number 3310599 (Why is no real title available?)
• Maxwell strata and symmetries in the problem of optimal rolling of a sphere over a plane
• On Hammersley's minimum problem for a rolling sphere
• On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
• Rolling bodies with regular surface: Controllability theory and applications
• Spherical robot of combined type: dynamics and control
• The geometry of the plate-ball problem
• The optimal rolling of a sphere, with twisting but without slipping
• Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies

Cited in

(1)

• Experimental observation of stabilization of tippe top spinning on a vibrating plane

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