7 citations · 16 across the 5 of their papers we have counts for
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cs.RO2021
Motion Planning of a Spin-Rolling Sphere on a Plane
Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto +1
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight lin…
cs.RO2021★ 7 cited
Darboux-Frame-Based Parametrization for a Spin-Rolling Sphere on a Plane: A Nonlinear Transformation of Underactuated System to Fully-Actuated Model
Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto
This paper presents a new kinematic model based on the Darboux frame for motion control and planning. In this work, we show that an underactuated model of a spin-rolling sphere on…