A Motion-Planning Algorithm for the Rolling-Body Problem

In this paper, we consider the control system defined by the rolling of a strictly convex surface S of IR
₃
on a plane without slipping or spinning. The purpose of this paper is to present the numerical implementation of a constructive planning algorithm for Σ, which is based on a continuation method. The performances of that algorithm, both in robustness and convergence speed, are illustrated through several examples.