DocumentCode
1740187
Title
Nonholonomic kinematics and dynamics of the Sphericle
Author
Camicia, Carlo ; Conticelli, Fahio ; Bicchi, Antonio
Author_Institution
Pisa Univ., Italy
Volume
1
fYear
2000
fDate
2000
Firstpage
805
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2000.894703
Filename
894703
Link To Document