A Caltech Library Service

Reduced dynamical equations for barycentric spherical robots

Burkhardt, Matt and Burdick, Joel W. (2016) Reduced dynamical equations for barycentric spherical robots. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 2725-2732. ISBN 978-1-4673-8026-3.

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item:


Barycentric spherical robots (BSRs) rely on a noncollocated center of mass and center of rotation for propulsion. Unique challenges inherent to BSRs include a nontrivial correlation between internal actuation, momentum, and net vehicle motion. A new method is presented for deriving reduced dynamical equations of motion (EOM) for a general class of BSRs which extends and synthesizes prior efforts in geometric mechanics. Our method is an extension of the BKMM approach [1], allowing Lagrangian reduction and reconstruction to be applied to dynamical systems with symmetry-breaking potential energies, such as those encountered by BSRs rolling on a surface. The resulting dynamical equations are of minimal dimension and vehicle motion due to actuation and momenta appear linearly in a simple first-order differential equation. The EOM of a BSR named Moball [2] [3] are derived to illustrate the approach's utility. A simple table summarizes our algorithm's application to popular BSRs in the literature, and the approach is extended to sloped terrains.

Item Type:Book Section
Related URLs:
URLURL TypeDescription DOIArticle
Additional Information:© 2016 IEEE. This work was supported by a NASA Space Technology Research Fellowship (NSTRF), NASA’s Earth Science and Technology Office (ESTO), and California Institute of Technology’s von Karman graduate fellowship. The authors thank Dr. Thomas Wagner for early support of this project, and Prof. Richard Murray for helpful conversations on this topic.
Funding AgencyGrant Number
Record Number:CaltechAUTHORS:20160614-081159213
Persistent URL:
Official Citation:M. Burkhardt and J. W. Burdick, "Reduced dynamical equations for barycentric spherical robots," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016, pp. 2725-2732. doi: 10.1109/ICRA.2016.7487434
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:67898
Deposited By: Tony Diaz
Deposited On:14 Jun 2016 16:40
Last Modified:03 Oct 2019 10:09

Repository Staff Only: item control page