The model of a ball rolling on an inclined plane is derived using screw theory and Lie algebra. The plane is supported by a gimbal and the inclination can be controlled in two orthogonal directions. The model includes effects due gravity, Coriolis and centripetal torques
This chapter reviews the problem of nonholonomic rolling in nonprehensile manipulation tasks through...
We study the dynamics and explore thecontrollability of a family of sphere-plate mechanical systems....
The ball and plate system is a nonlinear MIMO system that has interesting characteristics which are...
This study discusses kinematic and dynamic precession models for a rolling ball with a finite contac...
The paper considers a heavy homogeneous ball rolling without slipping on the outside of a real rough...
Abstract. Experiments and computer simulations show that when a rigid ball with inhomoge-neous but s...
It is known that humans tend to misjudge the kinematics of a target rolling down an inclined plane. ...
The paper addresses dynamic and control issues related to a dynamical model called the classical shi...
with a Single Control Underactuated manipulation is the process of controlling several ob-ject degre...
Imbalance is encountered in many rotating systems. A possible solution in the reduction of un-wanted...
The skidding phenomenon, consisting of sliding and spinning may between the rolling elements and the...
Many vehicle systems contain rolling elements which exhibit unstable rolling motion, called shimmyin...
The paper presents a numerical method of dynamic analysis of a wheel that moves along an inclined pl...
Underactuated manipulation is the process of controlling several object degrees-of-freedom with fewe...
Friction drive systems are adopted for many robots of spherical locomotion type. Such systems have p...
This chapter reviews the problem of nonholonomic rolling in nonprehensile manipulation tasks through...
We study the dynamics and explore thecontrollability of a family of sphere-plate mechanical systems....
The ball and plate system is a nonlinear MIMO system that has interesting characteristics which are...
This study discusses kinematic and dynamic precession models for a rolling ball with a finite contac...
The paper considers a heavy homogeneous ball rolling without slipping on the outside of a real rough...
Abstract. Experiments and computer simulations show that when a rigid ball with inhomoge-neous but s...
It is known that humans tend to misjudge the kinematics of a target rolling down an inclined plane. ...
The paper addresses dynamic and control issues related to a dynamical model called the classical shi...
with a Single Control Underactuated manipulation is the process of controlling several ob-ject degre...
Imbalance is encountered in many rotating systems. A possible solution in the reduction of un-wanted...
The skidding phenomenon, consisting of sliding and spinning may between the rolling elements and the...
Many vehicle systems contain rolling elements which exhibit unstable rolling motion, called shimmyin...
The paper presents a numerical method of dynamic analysis of a wheel that moves along an inclined pl...
Underactuated manipulation is the process of controlling several object degrees-of-freedom with fewe...
Friction drive systems are adopted for many robots of spherical locomotion type. Such systems have p...
This chapter reviews the problem of nonholonomic rolling in nonprehensile manipulation tasks through...
We study the dynamics and explore thecontrollability of a family of sphere-plate mechanical systems....
The ball and plate system is a nonlinear MIMO system that has interesting characteristics which are...
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