Results 251 to 260 of about 29,621 (297)

Control of a Sphere Rolling on a Plane with Constrained Rolling Motion

Proceedings of the 44th IEEE Conference on Decision and Control, 2006
In this paper, we discuss control of contact coordinates for a contact point between a sphere and a plane with pure rolling contact by using iterative closed paths on the sphere with contstrained rolling motion. We first analyze the boundary of the reachable area by the closed path with constrained rolling motion.
Akira Nakashima, Kenji Nagase, Yoshikazu Hayakawa   +2 more
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Planning Motions of Polyhedral Parts by Rolling

Algorithmica, 2000
For the purpose of robotic manipulation, the problem of displacing and reorienting a polyhedral part with piecewise smooth surface rolling on a plane is considered. The corresponding theoretical results are reviewed, and a polynomial time algorithm is proposed allowing the planning of such motions. The effects of finite accuracy in representing problem
Alessia Marigo, Massimo Ceccarelli, Simone Piccinocchi, Antonio Bicchi   +3 more
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The Motion of a Rolling Polygon

Journal of Applied Mechanics, 2003
Galileo was the first to analyze the motion of spheres rolling down an inclined surface. Since then, Coulomb’s law of dry friction has covered the case of sliding particles. However, a particle that is not round can still roll, although in a way that is essentially different from the motion studied by Galileo.
E. M. Beunder, P. C. Rem
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Rolling motions of pseudo-orthogonal groups

2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012
The classical definition of a rolling map, describing the rolling motion, without slip or twist, of one Euclidean submanifold over another of the same dimension, as given in Sharpe [8], is generalized for the situation when the embedded space is equipped with a pseudo-Riemannian metric and applied to derive the kinematic equations for the constrained ...
Peter E. Crouch, Fatima Silva Leite
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Learning to regulate rolling ball motion

2017 IEEE Symposium Series on Computational Intelligence (SSCI), 2017
In this paper, we present a problem of regulating the motion of a rolling ball in a one-dimensional space in the presence of non-linear effects of friction and contact. The regulation problem is solved using a model-based reinforcement learning technique.
Devesh K. Jha, Daniel Nikovski, William Yerazunis, Amir-massoud Farahmand   +3 more
openaire   +1 more source

A motion planning algorithm for the rolling-body problem

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009
In this paper, we consider the control system Σ defined by the rolling of a stricly convex surface S on a plane without slipping or spinning. It is well known that Σ is completely controllable. The purpose of this paper is to present the numerical implementation of a constructive planning algorithm for Σ, which is based on a continuation method.
François Alouges, Yacine Chitour, Ruixing Long   +2 more
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On the motion planning of rolling surfaces

Forum Mathematicum, 2003
This paper addresses the problem of motion planing for a pair of 2-dimensional Riemannian manifolds rolling on each other without slipping or spinning. Conceptually, the paper refers to the following fundamental contributions to the subject: \textit{V. Jurdjevic}, ``The geometry of the plate-ball problem'' [Arch. Ration. Mech. Anal. 124, 305--328 (1993;
Chelouah, Abdelkader, Chitour, Yacine
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Handling with Roll Motion

2014
The vehicle orientation is defined by means of the yaw-pitch-roll elemental rotations. Then, to define the vehicle position, a careful analysis of what happens when the vehicle rolls is performed. The key result is the definition of the Vehicle Invariant Point (VIP) as the best option for monitoring the vehicle position, and also for defining the ...
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Planning the motion of a sliding and rolling sphere

2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
This paper investigates the free motion of a sphere with initial velocity and angular velocity on a plane under sliding and rolling friction. The sphere will first slide along a parabolic trajectory (with a constant direction of its contact velocity), and then roll along a straight trajectory.
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The Mechanics of Rolling Motion

1978
It is not without significance to society that the principle of rolling as a method of translation dates from antiquity. None the less, this method of translation may be properly claimed to be the product of man’s ingenuity, and indeed it is known that such an advanced society as the Incas did not discover this principle.
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