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Dynamic model-based motion planning and control strategies for spherical rolling robots

Research Project

Project/Area Number 15K05900
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRitsumeikan University (2017)
Kyushu University (2015-2016)

Principal Investigator

Svinin Mikhail  立命館大学, 情報理工学部, 教授 (90274125)

Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2015: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Keywordsロボティクス / モーションプランニング / 非ホロノミックなシステム / 転がりロボット / 拘束運動 / 最適制御 / 非ホロノミックシステム / ス非ホロノミックシステム
Outline of Final Research Achievements

The research deals with motion planning for rolling robots with minimal number of actuators. Two types of robots, actuated by a pendulum or internal rotors, were considered. A motion planning strategy, consisting of two trivial and one non-trivial maneuvers, has been proposed. For the first robot, a dynamic realizability condition was established. It was shown the planning problem can be decoupled to kinematic and dynamic levels if the robot rolls without spinning. In this case, the planning is reduced to a boundary value problem for a hoop-pendulum system rolling along a contact curve, and a technique based on the linearized optimal control solution was proposed. For the second robot, the decoupling is not possible but the dynamic model is reduced by the conservation of the angular momentum. A planning technique based on the geometric phases approach and the nilpotent approximation of the robot dynamics, has been proposed. Two spherical rolling robots were designed and prototyped.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • Research Products

    (16 results)

All 2018 2017 2016 2015

All Journal Article (6 results) (of which Int'l Joint Research: 5 results,  Peer Reviewed: 5 results) Presentation (10 results) (of which Int'l Joint Research: 4 results)

  • [Journal Article] Optimal control approach for establishing wMelPop Wolbachia infection among wild Aedes aegypti populations2018

    • Author(s)
      D.E. Campo-Duarte, O. Vasilieva, D. Cardona-Salgado, M. Svinin
    • Journal Title

      Journal of Mathematical Biology

      Volume: 76 Issue: 7 Pages: 1907-1950

    • DOI

      10.1007/s00285-018-1213-2

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Remote control library and GUI development for Russian crawler robot Servosila Engineer2018

    • Author(s)
      I. Mavrin, R. Lavrenov, M. Svinin, S. Sorokin, E. Magid
    • Journal Title

      MATEC Web of Conferences

      Volume: 161 Pages: 1-6

    • DOI

      10.1051/matecconf/201816103016

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Natural Human Movements in Geometrically Constrained Haptic Environments2017

    • Author(s)
      I. Goncharenko, M. Svinin, V. Kryssanov
    • Journal Title

      Haptic Interaction. Lecture Notes in Electrical Engineering

      Volume: 432 Pages: 13-19

    • DOI

      10.1007/978-981-10-4157-0_3

    • ISBN
      9789811041563, 9789811041570
    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Adaptive Trajectory Tracking Control for the Ball-Pendulum System with Time-Varying Uncertainties2017

    • Author(s)
      Y. Bai, M. Svinin, M. Yamamoto
    • Journal Title

      IEEE/RSJ International Conference on Intelligent Robots and Systems

      Volume: N/A Pages: 2083-2090

    • DOI

      10.1109/iros.2017.8206026

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Prediction of closed-chain human arm dynamics in a crank-rotation task2016

    • Author(s)
      8.S. D. Farahani, M. Svinin, M.S. Andersen, M. de Zee, J. Rasmussen
    • Journal Title

      Journal of Biomechanics

      Volume: 49 Issue: 13 Pages: 2684-2693

    • DOI

      10.1016/j.jbiomech.2016.05.034

    • Related Report
      2016 Research-status Report
  • [Journal Article] On the Iterative Steering of a Rolling Robot Actuated by Internal Rotors2015

    • Author(s)
      A. Morinaga, M. Svinin, and M. Yamamoto
    • Journal Title

      Analysis, Modelling, Optimization, and Numerical Techniques (O. Vasilieva, G.O. Tost, eds.), Springer Proceedings in Mathematics and Statistics

      Volume: 121 Pages: 205-218

    • DOI

      10.1007/978-3-319-12583-1_14

    • ISBN
      9783319125824, 9783319125831
    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] Effects of the Slope on the Motion of Spherical RollRoller Robot2016

    • Author(s)
      S. Tafrishi, M. Svinin, E. Esmaeilzadeh
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Sapporo, Japan
    • Year and Date
      2016-12-13
    • Related Report
      2016 Research-status Report
  • [Presentation] Backstepping Trajectory Tracking Control for a Spherical Rolling Robot2016

    • Author(s)
      Y. Bai, M. Svinin, M. Yamamoto
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Daejeon, Korea
    • Year and Date
      2016-10-09
    • Related Report
      2016 Research-status Report
  • [Presentation] Modeling of Human-Like Reaching Movements in the Manipulation of Parallel Flexible Objects2016

    • Author(s)
      M. Svinin, I. Goncharenko, H. Lee, M. Yamamoto
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Daejeon, Korea
    • Year and Date
      2016-10-09
    • Related Report
      2016 Research-status Report
  • [Presentation] A Haptic Simulator for Studying Rest-To-Rest Reaching Movements in Dynamic Environments2016

    • Author(s)
      I. Goncharenko, M. Svinin
    • Organizer
      WSCG International Conferences in Central Europe on Computer Graphics, Visualization and Computer Vision
    • Place of Presentation
      Plzen, Czech Republic
    • Year and Date
      2016-05-30
    • Related Report
      2016 Research-status Report
  • [Presentation] Motion Planning for a Hoop-Pendulum Type of Underactuated Systems2016

    • Author(s)
      Y. Bai, M. Svinin, M. Yamamoto
    • Organizer
      IEEE International Conference on Robotics and Automation,
    • Place of Presentation
      Stockholm, Sweden
    • Year and Date
      2016-05-16
    • Related Report
      2016 Research-status Report
  • [Presentation] 車輪移動ロボットの障害物回避におけるタイヤ滑りの活用2016

    • Author(s)
      盛永 明啓, Svinin Mikhail, 山本 元司
    • Organizer
      第21回日本ロボット学会ロボティクスシンポジア
    • Place of Presentation
      長崎県長崎市
    • Year and Date
      2016-03-17
    • Related Report
      2015 Research-status Report
  • [Presentation] Motion analysis and feedforward control of a tail-slide vehicle2015

    • Author(s)
      A. Morinaga, M. Svinin, M. Yamamoto
    • Organizer
      Proc. IEEE International Conference on Decision and Control
    • Place of Presentation
      Osaka, JApan
    • Year and Date
      2015-12-15
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Motion planning for a pendulum-driven rolling robot tracing spherical contact curves2015

    • Author(s)
      Y. Bai, M. Svinin, M. Yamamoto
    • Organizer
      Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Hamburg, Germany
    • Year and Date
      2015-10-28
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Motion planning of drifting vehicle with friction model considering nonholonomic constraint2015

    • Author(s)
      A. Morinaga, M. Svinin, M. Yamamoto
    • Organizer
      Proc. IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Seattle, USA
    • Year and Date
      2015-05-25
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Dynamic model and motion planning for a pendulum-actuated spherical rolling robot2015

    • Author(s)
      Y. Bai, M. Svinin, M. Yamamoto
    • Organizer
      Proc. IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Seattle, USA
    • Year and Date
      2015-05-25
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research

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Published: 2015-04-16   Modified: 2019-03-29  

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