@inproceedings{4daf98fde8e140f8a0c6d070118fb403,
title = "Rolling Contact Motion Modeling for Spherical Modular Self-reconfigurable Robots",
abstract = "A spherical modular self-reconfigurable robot allows modules to connect at any point on its spherical surface, and the modules can continuously roll relative to each other after the attaching. Rolling contact motions have been formed among the spherical modules, which has the potential of the absence of abrasion wear and the enlargement of reachable configurations. This paper describes the kinematic behaviors between two adjacent modules as a spherical rolling contact joint, and establishes the relationship between the relative motion rate of the modules and the joint angular velocity. The dynamic equations between the spherical modules are derived as a special case of spherical modules moving on a general surface. By combining the derived motion equations among spherical modules with the variable topology description of the spherical modular self-reconfigurable robot, the unified motion equations for various configurations of the robot can be obtained.",
keywords = "kinematics and dynamics modeling, modular self-reconfigurable robot, rolling contact motion",
author = "Ting Pan and Hui Cheng and Lam, {Tin lun} and Lijun Zong",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024 ; Conference date: 31-07-2024 Through 02-08-2024",
year = "2025",
doi = "10.1007/978-981-96-0798-3_28",
language = "英语",
isbn = "9789819607976",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "377--390",
editor = "Xuguang Lan and Xuesong Mei and Caigui Jiang and Fei Zhao and Zhiqiang Tian",
booktitle = "Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings",
}