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ICRA
2000
IEEE
127views Robotics» more  ICRA 2000»
10 years 3 months ago
Design, Experiments and Motion Planning of a Spherical Rolling Robot
This paper describes a prototype and analytical studies of a spherical rolling robot, a new design of a nonholonomic system. The spherical robot is driven by two remotely controll...
Shourov Bhattacharya, Sunil Kumar Agrawal
IJRR
2002
85views more  IJRR 2002»
9 years 11 months ago
On Motion Planning for Robotic Manipulation with Permanent Rolling Contacts
We address the motion planning problem (open-loop trajectory design) for manipulating rigid bodies with permanent rolling contact without slipping. This problem is related in part...
Bálint Kiss, Jean Lévine, Bél...
ICRA
2008
IEEE
200views Robotics» more  ICRA 2008»
10 years 6 months ago
Nonlinear predictive control of an omnidirectional robot dribbling a rolling ball
Abstract— This paper focuses on the dribbling control problem of an omnidirectional mobile robot and a rolling ball in the RoboCup Middle Size domain. Because the ball easily sli...
Xiang Li, Andreas Zell
ICRA
2003
IEEE
121views Robotics» more  ICRA 2003»
10 years 5 months ago
Double spherical joint and backlash clutch for lower limbs of humanoids
In this paper, we develop tw o mechanisms for improving humanoid robot motions. The double spherical joint is a six DOF mechanism whose axes intersect in one point. This mechanism...
Masafumi Okada, Tetsuya Shinohara, Tatsuya Gotoh, ...
ICRA
2000
IEEE
108views Robotics» more  ICRA 2000»
10 years 4 months ago
Controllability of Single Input Rolling Manipulation
This paper investigates controllability of underactuated rolling systems consisting of a smooth object rolling on a moving smooth surface. Our system consists of a spherical ball ...
Prasun Choudhury, Kevin M. Lynch
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