Introducing the Sphericle an Experimental Testbed for Research and Teaching in Nonholonomy.pdfVIP

Intro ducing the Sphericle an Exp erimental Testb ed for Research and Teaching in Nonholonomy y Antonio Bicchi Andrea Balluchi Domenico Prattichizzo Andrea Gorelli Centro E Piaggio y Facolta di Ingegneria Universita di Pisa Universita di Siena via Diotisalvi Via Roma Pisa Italia Siena Italia Abstract nomic systems is however hindered by the intrinsic dif In this pap er we describ e an exp erimental appara culties of planning and controlling them Nonholo tus develop ed in our lab oratory for research and ad nomic systems are infact one of the most signicant vanced teaching purp oses The device consists in an classes of intrinsical ly nonlinear systems ie systems untethered spherical vehicle that autonomously rolls to which approximated linearization metho ds can not on the lab oratory o or and can reach arbitrary p osi b e applied without destroying some of the structural tions and orientations in the environment The kine prop erties of the system itself The wide attention matics of the vehicle are nonholonomic and result that the study of nonholonomic systems has received from the combination of the kinematics of two clas has pro duced a wealth of metho ds that apply to dier sical nonholonomic systems namely a unicycle and a ent classes of systems Although many op en problems plateball system The sphericle however intro duces remain which f