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 MoreMetadata
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.
Published in: 52nd IEEE Conference on Decision and Control
Date of Conference: 10-13 December 2013
Date Added to IEEE Xplore: 10 March 2014
ISBN Information:
Print ISSN: 0191-2216