3 accepted papers
Rolling contact kinematics plays a vital role in dexterous manipulation and rolling-based locomotion. Yet, in practical applications, the environments and objects involved are often captured as discrete point clouds, creating substantial difficulties for traditional motion control and planning frame
Magnetic distortions due to existing appliances and on-board objects with ferromagnetic materials cause serious bias and deviations in motion estimation by inertial measurement sensors with magnetometers. This problem requires a proper sensor fusion to do motion tracking with a minimal angular error
This paper deals with motion planning and control for an underactuated system, the hoop-pendulum, a pendulum mounted at the center of a hoop. The dynamic model for this system is derived and the local controllability around the equilibrium point is established. To transfer the system from a initial