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A Motion-Planning Algorithm for the Rolling-Body Problem

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3 Author(s)
Alouges, F. ; Dept. of Appl. Math., Ecole Polytech., Palaiseau, France ; Chitour, Y. ; Ruixing Long

In this paper, we consider the control system defined by the rolling of a strictly convex surface S of IR3 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.

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Robotics, IEEE Transactions on  (Volume:26 ,  Issue: 5 )