A geometric motion planning for a spin-rolling sphere on a plane

Seyed Amir Tafrishi,Mikhail Svinin,Motoji Yamamoto,Yasuhisa Hirata

Applied Mathematical Modelling（2023）

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摘要

•Motion planning of a spin-rolling sphere on a plane.•A novel geometric path planning approach with a Darboux frame parametrization.•Planning the spin-rolling sphere on the shortest path on the plane.•Evaluation of the capabilities and performance of the approach in the simulation.

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关键词

Motion planning, Spin-rolling, Darboux frame, Shortest path, Smooth trajectory, Geometric mechanics

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