The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Motion of two rigid bodies with rolling constraint
Abstract
The motion of two rigid bodies under rolling constraint is considered. In particular, the following two problems are addressed: (1) given the geometry of the rigid bodies, determine the existence of an admissible path between two contact configurations; and (2) assuming that an admissible path exists, find such a path. First, the configuration space of contact is defined, and the differential equations governing the rolling constraint are derived. Then, a generalized version of Frobenius's theorem, known as Chow's theorem, for determining the existence of motion is applied. Finally, an algorithm is proposed that generates a desired path with one of the objects being flat. Potential applications of this study include adjusting grasp configurations of a multifingered robot hand without slipping, contour following without dissipation or wear by the end-effector of a manipulator, and wheeled mobile robotics.>
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Citations
Cites
Nonlinear controllability and observability
Hermann, R., & Krener, A. (1977) · IEEE Transactions on Automatic Control · doi:10.1109/tac.1977.1101601 · Cited by 2,374
Cited by
Nonholonomic motion planning: steering using sinusoids
Murray, R. M., & Sastry, S. S. (1993) · IEEE Transactions on Automatic Control · doi:10.1109/9.277235 · Cited by 1,771
Stable Pushing: Mechanics, Controllability, and Planning
Lynch, K. M., & Mason, M. T. (1996) · The International Journal of Robotics Research · doi:10.1177/027836499601500602 · Cited by 463
Dynamic motion planning of autonomous vehicles
Shiller, Z., & Gwo, Y.-R. (1991) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.75906 · Cited by 286
Metadata
- Authors
- Li, Z., & Canny, J.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1990
- Volume
- 6
- Issue
- 1
- Pages
- 62-72
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2101196304
- Cited by
- 362
- References
- 1
- FWCI
- 22.76
- Type
- journal article
- Language
- en
- Open access
- closed
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- Li, Z., & Canny, J. (1990). Motion of two rigid bodies with rolling constraint. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.88118
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