Controllability of Single Input Rolling Manipulation


This paper investigates controllability of underactuated rolling systems consisting of a smooth object rolling on a moving smooth surface. Our system consists of a spherical ball which rolls on the inside of an ellipsoidal bowl. The bowl has a single translational degree of freedom not aligned with any of its principal axes. The single control input is the… (More)
DOI: 10.1109/ROBOT.2000.844082