Modelling, motion planning and control for performing feasible rolling motion of a passive disc on a frame of the Butterfly Robot

The Butterfly robot consists of a passive disc rolling on a robot hand represented by a varying curvature frame, which has a shape of figure eight and which orientation can be controlled by DC-motor. In this way, the motion of the disc is affected only by the gravity, the reaction force and the friction force it experiences in contact with the robot hand. The system and the scenario of its work provides a challenging example of dynamic manipulation performed by underactuated system, where only part of degrees of freedom can be directly controlled, while dynamics of other part of degrees of freedom is driven by coupling with actuated variables. The project is aimed at developing a model based motion planning algorithm and a model based control strategy for performing a stable rolling of the disc on the robot hand which is robust with respect to uncertainty in system parameters, modelling errors and measurements noise