A motion-planning algorithm for the rolling-body problem

Authors:
François Alouges;Yacine Chitour;Ruixing Long
Affiliations:
Department of Applied Mathematics, Ecole Polytechnique, Palaiseau, France;Laboratiore des Signaux et Systèmes, Université National de la Recherche Scientifique and École Supérieure d'Électricité, Gif-sur-Yvette, France;Department of Applied Mathematics, Ecole Polytechnique, Palaiseau, France
Venue:
IEEE Transactions on Robotics
Year:
2010

Citing 3
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Abstract

In this paper, we consider the control system Σ defined by the rolling of a strictly convex surface S of IR3 on a plane without slipping or spinning. 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. The performances of that algorithm, both in robustness and convergence speed, are illustrated through several examples.