7 citations · 12 across the 3 of their papers we have counts for
3 papers
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…
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…
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…