2 papers
cs.RO2021
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…
cs.RO2020
Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass
Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto
Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial co…