Paper Info
Title
Towards achieving rolling contact motion in a spherical robotic fingertip
Abstract
Dexterity in human hand is connected with the fingertip rolling ability. Controlling the rolling motion of a spherical robot's tip upon a contacted surface is in this work addressed by solving the control of a wheel's rolling motion, moving upon the robot tip's line path. A model free prescribed performance controller of low complexity is proposed guaranteeing the wheel's rolling under any surface friction conditions. The stability of the closed loop system is proved while simulation results verify the achievement of the wheel's rolling motion towards a desired target location.
Year
Venue
Keywords
2015
Mediterranean Conference on Control and Automation
Robotics,Rolling contact,Robust control
Field
DocType
ISSN
Control theory,Control theory,Simulation,Computer science,Control engineering,Spherical robot,Contact motion,Robot,Trajectory,Mobile robot
Conference
2325-369X
Citations 
PageRank 
References 
0
0.34
6
Authors
3
Name
Order
Citations
PageRank
Leonidas Droukas192.20
George A. Rovithakis274945.73
Zoe Doulgeri333247.11