Nonprehensile dynamic manipulation can be reasonably considered as the most complex
manipulation task. It might be argued that such a task is still rather far from being fully solved …

A path planning algorithm for a spherical mobile robot rolling on a plane is presented in this
paper. The robot is actuated by two internal rotors that are fixed to the shafts of two motors …

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 …

In this brief, we propose a passivity-based control design for a rolling-balancing system
called the disk-on-disk (DoD). The stabilization of the desired equilibrium is obtained via …

This paper deals with the ball-plate manipulation problem considered as a typical but
complicated model of a driftless nonholonomic system. Due to a strong nonlinearity of the …

The paper deals with the dynamics of a spherical rolling robot actuated by internal rotors that
are placed on orthogonal axes. The driving principle for such a robot exploits nonholonomic …

In this paper, we address the issue of motion planning for the control system SR that results
from the rolling without slipping nor spinning of a two dimensional Riemannian manifold M1 …

A control framework for nonprehensile planar rolling dynamic manipulation is derived in this
letter. By rotating around the center of mass, the manipulator moves a part without grasping …

A wheeled mobile robot (WMR) is a typical nonholonomic system in which the wheels have
constrained interactions with the ground. To relate these local interactions to some global …

Rolling contact has been used by robotic devices to drive between configurations. The
degrees of freedom (DOFs) of rolling contact pairs can be one, two, or three, depending on …