Title :
Nonholonomic kinematics and dynamics of the Sphericle
Author :
Camicia, Carlo ; Conticelli, Fahio ; Bicchi, Antonio
Author_Institution :
Pisa Univ., Italy
Abstract :
We consider a complete dynamic model for the “Sphericle”, a spherical vehicle that has been designed and realized in our laboratory. The Sphericle is able to roll on the floor of the laboratory and reach arbitrary positions and orientations, through the use of only two motors placed within the rolling sphere. In this paper, we report on the derivation of the kinematic model of the Sphericle, which incorporates two types of nonholonomic constraints and its dynamic model
Keywords :
mobile robots; robot dynamics; robot kinematics; dynamic model; dynamics; nonholonomic kinematics; rolling sphere; spherical vehicle; Angular velocity; Control design; Control systems; Kinematics; Lagrangian functions; Linear systems; Mechanical systems; Robots; Satellites; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894703
