Design, experiments and motion planning of a spherical rolling robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2000, Pages 1207-1212

  Bhattacharya, Shourov ^a   Agrawal, Sunil K ^a  

^a UNIVERSITY OF DELAWARE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

NONHOLONOMIC SYSTEM; OVERHEAD CAMERA; SPHERICAL ROLLING ROBOT;

CAMERAS; COMPUTER SIMULATION; CONSTRAINT THEORY; MATHEMATICAL MODELS; MOTION CONTROL; MOTION PLANNING; REMOTE CONTROL; TRACKING (POSITION);

MOBILE ROBOTS;

EID: 0033722440     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

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2. Bhattacharya, S. 'Design, Experiments and Motion Planning of a Spherical Rolling Robot' MS Thesis, Mechanical Engineering, University of Delaware, 1999.
3. Bicchi, A., Balluchi, A., Prattichizzo, D. and Gorelli, A. 'Introducing the Sphericle: an Experimental Testbed for Research and Teaching in Non-holonomy', Proceedings of the IEEE International Conference on Robotics and Automation., 1997.
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10. Schlemmer, M. and Agrawal, S.K., 'Globally Feedback Linearizable Time-Invariant Systems: Optimal Solution for Mayer's Cost', to appear in ASME Journal of Dynamic Systems Measurement and Control, 2000.
11. Xu, X. and Agrawal, S.K. 'Finite-Time Optimal Control of Polynomial Systems Using Successive Approximation', to appear in Journal of Optimization Theory and Applications, 2000.