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In this paper, we consider the control system Â¿ defined by the rolling of a strictly convex surface S on a plane without slipping or spinning. It is well known that Â¿ is completely controllable. The purpose of this paper is to present the numerical implementation of a constructive planning algorithm for Â¿, which is based on a continuation method. The performances of that algorithm, both in robustness and convergence speed, are illustrated through two examples: rolling of a flattened ball and an egg on the plane.
Date of Conference: 15-18 Dec. 2009