Title :
Introducing the “SPHERICLE”: an experimental testbed for research and teaching in nonholonomy
Author :
Bicchi, Antonio ; Balluchi, Andrea ; Tichizzo, Domenico Prat ; Gorelli, A.
Author_Institution :
Centro E. Piaggio, Pisa Univ., Italy
Abstract :
In this paper we describe an experimental apparatus developed in our laboratory for research and advanced teaching purposes. The device consists of an untethered spherical vehicle that autonomously rolls on the laboratory floor, and can reach arbitrary positions and orientations in the environment. The kinematics of the vehicle are nonholonomic and result from the combination of the kinematics of two classical nonholonomic systems, namely, a unicycle and a plate-ball system. The “SPHERICLE” introduces features that are new with respect to the two systems
Keywords :
mobile robots; nonlinear systems; path planning; robot dynamics; robot kinematics; student experiments; dynamics; experimental testbed; kinematics; motion planning; nonholonomic systems; plate-ball system; research; teaching; unicycle; untethered spherical vehicle; Control systems; Education; Kinematics; Laboratories; Mechanical systems; Mobile robots; Remotely operated vehicles; Testing; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619356
