In this paper we describe an experimental apparatus developed in our laboratory for research and advanced teaching purposes. The device consists of an untethered spherical vehicle that autonomously rolls on the laboratory floor, and can reach arbitrary positions and orientations in the environment. The kinematics of the vehicle are nonholonomic and result from the combination of the kinematics of two classical nonholonomic systems, namely, a unicycle and a plate-ball system. The “SPHERICLE” introduces features that are new with respect to the two systems.
Bicchi, A., Balluchi, A., Prattichizzo, D., Gorelli, A. (1997). Introducing the “SPHERICLE”: an experimental testbed for research and teaching in nonholonomy. In Proc. IEEE Int. Conf. on Robotics and Automation (pp.2620-2625). New York : IEEE [10.1109/ROBOT.1997.619356].
Introducing the “SPHERICLE”: an experimental testbed for research and teaching in nonholonomy
Prattichizzo Domenico;
1997-01-01
Abstract
In this paper we describe an experimental apparatus developed in our laboratory for research and advanced teaching purposes. The device consists of an untethered spherical vehicle that autonomously rolls on the laboratory floor, and can reach arbitrary positions and orientations in the environment. The kinematics of the vehicle are nonholonomic and result from the combination of the kinematics of two classical nonholonomic systems, namely, a unicycle and a plate-ball system. The “SPHERICLE” introduces features that are new with respect to the two systems.
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https://hdl.handle.net/11365/20148