Controllability of single input rolling manipulation

Prasun Choudhury*, Kevin M Lynch

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

10 Scopus citations


This paper investigates controllability of underactuated rolling systems consisting of a smooth object rolling on a moving smooth surface. Our system consists of a spherical ball which rolls on the inside of an ellipsoidal bowl. The bowl has a single translational degree of freedom not aligned with any of its principal axes. The single control input is the bowl's acceleration in this direction. The object and contact motions are governed by a nonlinear system of equations derived from the kinematics and dynamics of rolling. Using existing results on small time local accessibility (STLA) and weakly positive Poisson stable (WPPS) vector fields, and assuming that the ball stays in the bowl, we show that the ball is globally controllable on its five-dimensional space of configurations relative to the bowl. We are currently working on motion planning algorithms with our experimental setup to control the equilibrium configuration of the ball.

Original languageEnglish (US)
Pages (from-to)354-360
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Dec 3 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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