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dc.contributor.authorCui, Lei
dc.contributor.authorDai, Jian
dc.contributor.editorFumio Harashima
dc.date.accessioned2017-01-30T12:26:59Z
dc.date.available2017-01-30T12:26:59Z
dc.date.created2013-10-10T20:00:35Z
dc.date.issued2009
dc.identifier.citationCui, Lei and Dai, J. S. 2009. A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning, in Harashima, F. (ed), 2009 IEEE International Conference on Robotics and Automation, May 12-17 2009. Kobe, Japan: IEEE Press.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/21732
dc.identifier.doi10.1109/ROBOT.2009.5152249
dc.description.abstract

This paper adopts a coordinate-free approach to investigate the kinematics of rigid bodies with rolling contact. A new equation of angular velocity of the moving body is derived in terms of the magnitude of rolling velocity and two sets of geometric invariants belonging to the respective contact curves. This new formulation can be differentiated up to any order. Furthermore, qualitative information about trajectory planning can be deduced from this equation if the characteristics of rolling objects and the motion are taken into consideration.

dc.publisherIEEE Press
dc.subjectcoordinate invariant
dc.subjectpath planning
dc.subjectDarboux frame
dc.subjectrolling contact
dc.titleA coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning
dc.typeConference Paper
dcterms.source.issn1050-4729
dcterms.source.titleProceedings of the 2009 IEEE International Conference on Robotics and Automation
dcterms.source.seriesProceedings of the 2009 IEEE International Conference on Robotics and Automation
dcterms.source.conference2009 IEEE International Conference on Robotics and Automation
dcterms.source.conference-start-dateMay 12 2009
dcterms.source.conferencelocationKobe, Japan
dcterms.source.placeNew York
curtin.note

© 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

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curtin.accessStatusOpen access


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