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dc.contributor.authorCui, Lei
dc.contributor.authorDai, J.
dc.date.accessioned2017-01-30T12:30:14Z
dc.date.available2017-01-30T12:30:14Z
dc.date.created2013-10-10T20:00:34Z
dc.date.issued2010
dc.identifier.citationCui, Lei and Dai, J. S. 2010. A Darboux-Frame-Based Formulation of Spin-Rolling Motion of Rigid Objects with Point Contact. IEEE Transactions on Robotics. 26 (2): pp. 383-388.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/22245
dc.identifier.doi10.1109/TRO.2010.2040201
dc.description.abstract

This paper investigates the kinematics of spin-rolling motion of rigid objects. This paper does not consider slipping but applies a Darboux frame to develop kinematics of spin-rolling motion, which occurs in a nonholonomic system. A new formulation of spin-rolling motion of the moving object is derived in terms of contravariant vectors, rolling velocity, and geometric invariants, including normal curvature, geodesic curvature, and geodesic torsion of the respective contact curve. The equation is represented with geometric invariants. It can be readily generalized to suit both arbitrary parametric surface and contact trajectory and can be differentiated to any order. Effect of the relative curvatures and torsion on spin-rolling kinematics is explicitly presented. The translation velocity of an arbitrary point on the moving object is also derived based on the Darboux frame.

dc.publisherIEEE Press
dc.subjectkinematics
dc.subjectrolling
dc.subjectnonholonomic
dc.subjectgrasping
dc.subjectspin-rolling
dc.subjectpoint contact
dc.subjectmultifingered hand
dc.subjectmotion
dc.subjectDarboux frame
dc.titleA Darboux-Frame-Based Formulation of Spin-Rolling Motion of Rigid Objects with Point Contact
dc.typeJournal Article
dcterms.source.volume26
dcterms.source.number2
dcterms.source.startPage383
dcterms.source.endPage388
dcterms.source.issn1552-3098
dcterms.source.titleIEE Transactions on Robotics
curtin.note

©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

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curtin.accessStatusOpen access


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