8 accepted papers
Robot simulators provide an easy way for evaluation of new concepts and algorithms in a simulated physical environment reducing development time and cost. Therefore it is convenient to have a tool that quickly creates a 3D landscape from an arbitrary 2D image or 2D laser range finder data. This pape…
Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial coupling that passive joints/bodies create. In this study, we present a model that is free from singularity while the traj…
An adaptive trajectory tracking problem for a spherical rolling robot driven by a 2DOF pendulum is considered in this paper. A feedback controller is proposed for the goal of tracking the trajectory for the full configuration of the spherical robot. To deal with time-varying uncertainty of the syste…
This paper deals with a trajectory tracking problem for the ball-pendulum system, a spherical rolling robot driven by a two degree of freedom pendulum. The backstepping technique is applied and first tested on the hoop-pendulum system, a planar case of the ball-pendulum. By mimicking the backsteppin…
The paper presents an analysis of human-like reaching movements in manipulation of parallel flexible objects. To predict the trajectory of human hand, a minimum hand jerk model, based on the minimization of integral of squared hand jerk over the movement duration is established. It is shown that wit…
This paper deals with the dynamics and motion planning for a spherical rolling robot with a pendulum actuated by two motors. First a dynamic model for the rolling robot is established. In general, not all feasible kinematic trajectories of the rolling carrier are dynamically realizable. A notable ex…
This paper deals with motion planning problems for spherical rolling robots driven by a two degree of freedom pendulum. A full dynamic model for this system is first introduced. Then, assuming that the contact path is specified and the sphere moves in pure rolling mode, the full dynamic model is red…
Conventional motion planners for wheeled vehicles often assume no-slipping and no-skidding conditions and construct motion trajectories in the context of nonholonomic motion planning. However, in some practical situations slipping and skidding cannot be ignored or can even be useful. To take them in…