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Local equilibrium controllability of a spherical robot actuated by a pendulum | IEEE Conference Publication | IEEE Xplore

Local equilibrium controllability of a spherical robot actuated by a pendulum


Abstract:

In this paper, we present local equilibrium configuration controllability analysis of a spherical robot. The robot is actuated by the principle of displacing the center o...Show More

Abstract:

In this paper, we present local equilibrium configuration controllability analysis of a spherical robot. The robot is actuated by the principle of displacing the center of gravity of the system using an internal mechanism. The system is defined on a trivial principal fiber bundle, characterized by base body motion and the shape dynamics, and the equations of motion are in the form of the nonholonomic Euler-Poincaré equation with advected dynamics. Using Lie brackets and symmetric products of the potential and control vector fields, local configuration accessibility and local (fiber) equilibrium controllability are presented.
Date of Conference: 10-13 December 2013
Date Added to IEEE Xplore: 10 March 2014
ISBN Information:
Print ISSN: 0191-2216
Conference Location: Firenze, Italy

References

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