A virtual reality haptic system for capturing skillful human movements in control of a hemisphere rolling on a plane without slipping is presented in this paper. A dynamic model of this nonholonomic rolling system with configuration-dependent inertia and gravity is derived, and a solver, required for the real-time haptic interaction, is implemented. The performance of the haptic system is verified under experiments with human subjects. Experimental data recorded by the haptic system are analyzed and some common features of human movements in the precession phase of the manipulation of the rolling system are observed. Finally, a simple actuation scheme, capturing these features, is proposed and verified under simulation.
Issue Section:
Research Papers
1.
Michaud
, F.
, de Lafontaine
, J.
, and Caron
, S.
, 2001, “A Spherical Robot for Planetary Surface Exploration
,” Proceedings of the Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Space
, Canadian Space Agency
, St-Hubert Quebec, Canada
.2.
Michaud
, F.
, and Caron
, S.
, 2002, “Roball, the Rolling Robot
,” Auton. Rob.
, 12
(2
), pp. 211
–222
. 0929-55933.
Bicchi
, A.
, Balluchi
, A.
, Prattichizzo
, D.
, and Gorelli
, A.
, 1997, “Introducing the ‘Sphericle’: An Experimental Testbed for Research and Teaching in Nonholonomy
,” Proceedings of the IEEE International Conference on Robotics and Automation
, Vol. 3
, pp. 2620
–2625
.4.
Bhattacharya
, S.
, and Agrawal
, S.
, 2000, “Spherical Rolling Robot: A Design and Motion Planning Studies
,” IEEE Trans. Rob. Autom.
, 16
(6
), pp. 835
–839
. 1042-296X5.
Javadi A.
, A. H.
, and Mojabi
, P.
, 2004, “Introducing Glory: A Novel Strategy for an Omnidirectional Spherical Rolling Robot
,” ASME J. Dyn. Syst., Meas., Control
, 126
(3
), pp. 678
–683
. 0022-04346.
Balasubramanian
, R.
, 2006, “Modeling and Control Techniques for a Class of Mobile Robot Error Recovery Problems
,” Ph.D. thesis, Carnegie Mellon University, Pittsburgh, PA.7.
Bobylev
, D.
, 1892, “On a Ball With a Gyroscope Inside Rolling Without Sliding on a Horizontal Plane
,” Mat. Sb.
0368-8666, 16
(3
), pp. 544
–581
.8.
Chaplygin
, S.
, 1949, “On a Ball Rolling on the Horizontal Plane
,” Investigations on the Dynamics of Nonholonomic Systems
(Classics of Natural Science
), N.
Semenova
, ed., GITTL
, Moscow
, pp. 72
–99
, in Russian.9.
Kilin
, A.
, 2001, “The Dynamics of Chaplygin Ball: The Qualitative and Computer Analysis
,” Regular Chaotic Dyn.
, 6
(3
), pp. 291
–306
.10.
Borisov
, A.
, and Mamaev
, I.
, 2002, “Rolling of a Rigid Body on Plane and Sphere: Hierarchy of Dynamics
,” Regular Chaotic Dyn.
, 7
(2
), pp. 177
–200
.11.
Li
, Z.
, and Canny
, J.
, 1990, “Motion of Two Rigid Bodies With Rolling Constraint
,” IEEE Trans. Rob. Autom.
1042-296X, 6
(1
), pp. 62
–72
.12.
Jurdjevic
, V.
, 1993, “The Geometry of the Plate-Ball Problem
,” Arch. Ration. Mech. Anal.
0003-9527, 124
(4
), pp. 305
–328
.13.
Marigo
, A.
, and Bicchi
, A.
, 2000, “Rolling Bodies With Regular Surface: Controllability Theory and Applications
,” IEEE Trans. Autom. Control
, 45
(9
), pp. 1586
–1599
. 0018-928614.
Mukherjee
, R.
, Minor
, M.
, and Pukrushpan
, J.
, 2002, “Motion Planning for a Spherical Mobile Robot: Revisiting the Classical Ball-Plate Problem
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 124
(4
), pp. 502
–511
.15.
Svinin
, M.
, and Hosoe
, S.
, 2008, “Motion Planning Algorithms for a Rolling Sphere With Limited Contact Area,” IEEE Transactions on Robotics, 24(3), pp. 612–625. 1546-190416.
Camicia
, C.
, Conticelli
, F.
, and Bicchi
, A.
, 2000, “Nonholonomic Kinematics and Dynamics of the Spherical
,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS’2000
, pp. 805
–810
.17.
Harada
, K.
, Kawashima
, T.
, and Kaneko
, M.
, 2002, “Rolling Based Manipulation Under Neighborhood Equilibrium
,” Int. J. Robot. Res.
, 21
(5–6
), pp. 463
–474
. 0278-364918.
Suzuki
, K.
, Svinin
, M.
, and Hosoe
, S.
, 2005, “Motion Planning for Rolling Based Locomotion,” Journal of Robotics and Mechatronics, 17(5), pp. 537–545.19.
Hristu-Varsakelis
, D.
, 2001, “The Dynamics of a Forced Sphere-Plate Mechanical System
,” IEEE Trans. Autom. Control
, 46
(5
), pp. 678
–686
. 0018-928620.
Choudhury
, P.
, and Lynch
, K.
, 2002, “Rolling Manipulation With a Single Control
,” Int. J. Robot. Res.
, 21
(5–6
), pp. 475
–487
. 0278-364921.
Burdea
, G.
, 2003, Virtual Reality Technology
, 2nd ed., Wiley
, New York
.22.
Montana
, D.
, 1988, “The Kinematics of Contact and Grasp
,” Int. J. Robot. Res.
, 7
(3
), pp. 17
–32
. 0278-364923.
Murray
, R.
, Li
, Z.
, and Sastry
, S.
, 1994, A Mathematical Introduction to Robotic Manipulation
, CRC
, Boca Raton, FL
.24.
Wittenburg
, J.
, 1977, Dynamics of Systems of Rigid Bodies
, Teubner
, Stuttgart, Germany
.25.
Neimark
, J.
, and Fufaev
, N.
, 1972, “Dynamics of Nonholonomic Systems
,” Translation of Mathematical Monographs
, Vol. 33
, American Mathematical Society
, Providence, RI
.26.
Lurie
, A.
, 2002, “Analytical Mechanics
,” Foundations of Engineering Mechanics
. Springer-Verlag
, Berlin
.27.
Press
, W.
, Teukolsky
, S.
, Vetterling
, W.
, and Flannery
, B.
, 1992, Numerical Recipes in C: The Art of Scientific Computing
, Cambridge University Press
, New York
.28.
Goncharenko
, I.
, Svinin
, M.
, Kanou
, Y.
, and Hosoe
, S.
, 2006, “Predictability of Rest-to-Rest Movements in Haptic Environments With 3D Constraints,” Journal of Robotics and Mechatronics, 18(4), pp. 458–466.29.
Horn
, R.
, and Johnson
, C.
, 1986, Matrix Analysis
, Cambridge University Press
, Cambridge
.30.
Burdea
, G.
, 1996, Force and Touch Feedback for Virtual Reality
, Wiley
, New York
.31.
SensAble Devices Inc.
, PHANToM Master User’s Manual, http://sensable.comhttp://sensable.com.32.
Craig
, J.
, 1989, Introduction to Robotics: Mechanics and Control
, 2nd ed., Addison-Wesley
, Reading, MA
.33.
Hogan
, N.
, and Colgate
, J.
, 1989, “Stability Problems in Contact Tasks
,” Robotics Review
, Vol. 1
, J.
Craig
, O.
Khatib
, and T.
Lozano-Perez
, eds., MIT
, Cambridge, MA
, pp. 339
–348
.34.
Miller
, B.
, Colgate
, J.
, and Freeman
, R.
, 2000, “Guaranteed Stability of Haptic Systems With Nonlinear Virtual Environments
,” IEEE Trans. Rob. Autom.
1042-296X, 16
(6
), pp. 712
–719
.35.
Gray
, A.
, 1998, Modern Differential Geometry of Curves and Surfaces With Mathematica
, 2nd ed., CRC
, Boca Raton, FL
.36.
Marder
, E.
, and Calabrese
, R.
, 1996, “Principles of Rhythmic Motor Pattern Generation
,” Physiol. Rev.
, 76
, pp. 688
–717
. 0031-933337.
Matsuoka
, K.
, 1987, “Mechanisms of Frequency and Pattern Control in the Neural Rhythm Generators
,” Biol. Cybern.
0340-1200, 56
, pp. 345
–353
.Copyright © 2009
by American Society of Mechanical Engineers
You do not currently have access to this content.
