Reduced dynamical equations for barycentric spherical robots

@article{Burkhardt2016ReducedDE,
  title={Reduced dynamical equations for barycentric spherical robots},
  author={Matthew R. Burkhardt and Joel W. Burdick},
  journal={2016 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2016},
  pages={2725-2732}
}
Barycentric spherical robots (BSRs) rely on a noncollocated center of mass and center of rotation for propulsion. Unique challenges inherent to BSRs include a nontrivial correlation between internal actuation, momentum, and net vehicle motion. A new method is presented for deriving reduced dynamical equations of motion (EOM) for a general class of BSRs which extends and synthesizes prior efforts in geometric mechanics. Our method is an extension of the BKMM approach [1], allowing Lagrangian… CONTINUE READING

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