DocumentCode
3576331
Title
Introducing the “SPHERICLE”: an experimental testbed for research and teaching in nonholonomy
Author
Bicchi, Antonio ; Balluchi, Andrea ; Tichizzo, Domenico Prat ; Gorelli, A.
Author_Institution
Centro E. Piaggio, Pisa Univ., Italy
Volume
3
fYear
1997
Firstpage
2620
Abstract
In this paper we describe an experimental apparatus developed in our laboratory for research and advanced teaching purposes. The device consists of an untethered spherical vehicle that autonomously rolls on the laboratory floor, and can reach arbitrary positions and orientations in the environment. The kinematics of the vehicle are nonholonomic and result from the combination of the kinematics of two classical nonholonomic systems, namely, a unicycle and a plate-ball system. The “SPHERICLE” introduces features that are new with respect to the two systems
Keywords
mobile robots; nonlinear systems; path planning; robot dynamics; robot kinematics; student experiments; dynamics; experimental testbed; kinematics; motion planning; nonholonomic systems; plate-ball system; research; teaching; unicycle; untethered spherical vehicle; Control systems; Education; Kinematics; Laboratories; Mechanical systems; Mobile robots; Remotely operated vehicles; Testing; Underwater vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.619356
Filename
619356
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