7 citations · 35 across the 19 of their papers we have counts for
4 papers · 1 filter
A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems
Qing Yu, Mikhail Svinin, Seyed Amir Tafrishi
Rolling motion planning is challenging because rolling contact imposes nonholonomic constraints and the configuration evolves on a curved manifold. The problem becomes substantiall…
PenduMorph: Development and Motion Analysis of Pendulum-Actuated Rolling Reconfigurable Spherical Robot with Magnetic-Coupling
Aung Myat, Peter Noyce, May Forgan +2
This paper presents "PenduMorph", a wireless reconfigurable rolling spherical robot designed as a modular platform for enclosed locomotion and inter-module interaction in challengi…
SPiralRoll: A Novel Adjustable-Stiffness Underactuated 3-DoF Joint with Torsion Springs for Rolling Robots
Louis Keith, George Ripper, and Seyed Amir Tafrishi
Compliant mechanisms are important in robotics because they can improve adaptability, safety, and energy efficiency while reducing hardware complexity. This paper presents SPiralRo…
Full Nonlinear Nonholonomic Dynamics and Motion Analysis of a 3-DoF Underactuated Spherical Rolling Robot
Lakshmesha Krishnapa, Ahnaf Sharaar Mazahar, Seyed Amir Tafrishi
This paper presents a full nonlinear constrained dynamic model of MonoRollBot, a novel 3-DoF spherical rolling robot driven by a single motor, a lead-screw transmission, and a spri…