{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T09:08:56Z","timestamp":1775120936792,"version":"3.50.1"},"reference-count":37,"publisher":"ASME International","issue":"1","content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2009,3,1]]},"abstract":"<jats:p>A virtual reality haptic system for capturing skillful human movements in control of a hemisphere rolling on a plane without slipping is presented in this paper. A dynamic model of this nonholonomic rolling system with configuration-dependent inertia and gravity is derived, and a solver, required for the real-time haptic interaction, is implemented. The performance of the haptic system is verified under experiments with human subjects. Experimental data recorded by the haptic system are analyzed and some common features of human movements in the precession phase of the manipulation of the rolling system are observed. Finally, a simple actuation scheme, capturing these features, is proposed and verified under simulation.<\/jats:p>","DOI":"10.1115\/1.3074282","type":"journal-article","created":{"date-parts":[[2009,3,6]],"date-time":"2009-03-06T23:30:53Z","timestamp":1236382253000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":2,"title":["Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation"],"prefix":"10.1115","volume":"9","author":[{"given":"Igor","family":"Goncharenko","sequence":"first","affiliation":[{"name":"3D Incorporated, Kanagawa-ku, Sakaecho 1-1, Urban Square, Yokohama 221-0052, Japan"}]},{"given":"Mikhail","family":"Svinin","sequence":"additional","affiliation":[{"name":"Mem. ASME"},{"name":"Bio-Mimetic Control Research Center, RIKEN, Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan"}]},{"given":"Shigeyuki","family":"Hosoe","sequence":"additional","affiliation":[{"name":"Bio-Mimetic Control Research Center, RIKEN, Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan"}]}],"member":"33","published-online":{"date-parts":[[2009,2,20]]},"reference":[{"key":"2019100323022481200_c1","article-title":"A Spherical Robot for Planetary Surface Exploration","volume-title":"Proceedings of the Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Space","author":"Michaud"},{"issue":"2","key":"2019100323022481200_c2","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1023\/A:1014005728519","article-title":"Roball, the Rolling Robot","volume":"12","author":"Michaud","journal-title":"Auton. Rob.","ISSN":"https:\/\/id.crossref.org\/issn\/0929-5593","issn-type":"print"},{"key":"2019100323022481200_c3","first-page":"2620","article-title":"Introducing the \u2018Sphericle\u2019: An Experimental Testbed for Research and Teaching in Nonholonomy","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Bicchi"},{"issue":"6","key":"2019100323022481200_c4","doi-asserted-by":"crossref","first-page":"835","DOI":"10.1109\/70.897794","article-title":"Spherical Rolling Robot: A Design and Motion Planning Studies","volume":"16","author":"Bhattacharya","journal-title":"IEEE Trans. Rob. Autom.","ISSN":"https:\/\/id.crossref.org\/issn\/1042-296X","issn-type":"print"},{"issue":"3","key":"2019100323022481200_c5","doi-asserted-by":"crossref","first-page":"678","DOI":"10.1115\/1.1789542","article-title":"Introducing Glory: A Novel Strategy for an Omnidirectional Spherical Rolling Robot","volume":"126","author":"Javadi A.","journal-title":"ASME J. Dyn. Syst., Meas., Control","ISSN":"https:\/\/id.crossref.org\/issn\/0022-0434","issn-type":"print"},{"key":"2019100323022481200_c6","unstructured":"Balasubramanian, R. , 2006, \u201cModeling and Control Techniques for a Class of Mobile Robot Error Recovery Problems,\u201d Ph.D. thesis, Carnegie Mellon University, Pittsburgh, PA."},{"issue":"3","key":"2019100323022481200_c7","first-page":"544","article-title":"On a Ball With a Gyroscope Inside Rolling Without Sliding on a Horizontal Plane","volume":"16","author":"Bobylev","journal-title":"Mat. Sb.","ISSN":"https:\/\/id.crossref.org\/issn\/0368-8666","issn-type":"print"},{"key":"2019100323022481200_c8","first-page":"72","article-title":"On a Ball Rolling on the Horizontal Plane","volume-title":"Investigations on the Dynamics of Nonholonomic Systems","author":"Chaplygin"},{"issue":"3","key":"2019100323022481200_c9","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1070\/RD2001v006n03ABEH000178","article-title":"The Dynamics of Chaplygin Ball: The Qualitative and Computer Analysis","volume":"6","author":"Kilin","journal-title":"Regular Chaotic Dyn."},{"issue":"2","key":"2019100323022481200_c10","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1070\/RD2002v007n02ABEH000204","article-title":"Rolling of a Rigid Body on Plane and Sphere: Hierarchy of Dynamics","volume":"7","author":"Borisov","journal-title":"Regular Chaotic Dyn."},{"issue":"1","key":"2019100323022481200_c11","doi-asserted-by":"publisher","first-page":"62","DOI":"10.1109\/70.88118","article-title":"Motion of Two Rigid Bodies With Rolling Constraint","volume":"6","author":"Li","journal-title":"IEEE Trans. Rob. Autom.","ISSN":"https:\/\/id.crossref.org\/issn\/1042-296X","issn-type":"print"},{"issue":"4","key":"2019100323022481200_c12","doi-asserted-by":"publisher","first-page":"305","DOI":"10.1007\/BF00375605","article-title":"The Geometry of the Plate-Ball Problem","volume":"124","author":"Jurdjevic","journal-title":"Arch. Ration. Mech. Anal.","ISSN":"https:\/\/id.crossref.org\/issn\/0003-9527","issn-type":"print"},{"issue":"9","key":"2019100323022481200_c13","doi-asserted-by":"crossref","first-page":"1586","DOI":"10.1109\/9.880610","article-title":"Rolling Bodies With Regular Surface: Controllability Theory and Applications","volume":"45","author":"Marigo","journal-title":"IEEE Trans. Autom. Control","ISSN":"https:\/\/id.crossref.org\/issn\/0018-9286","issn-type":"print"},{"issue":"4","key":"2019100323022481200_c14","doi-asserted-by":"publisher","first-page":"502","DOI":"10.1115\/1.1513177","article-title":"Motion Planning for a Spherical Mobile Robot: Revisiting the Classical Ball-Plate Problem","volume":"124","author":"Mukherjee","journal-title":"ASME J. Dyn. Syst., Meas., Control","ISSN":"https:\/\/id.crossref.org\/issn\/0022-0434","issn-type":"print"},{"key":"2019100323022481200_c15","doi-asserted-by":"crossref","unstructured":"Svinin, M., and Hosoe, S., 2008, \u201cMotion Planning Algorithms for a Rolling Sphere With Limited Contact Area,\u201d IEEE Transactions on Robotics, 24(3), pp. 612\u2013625. 1546-1904","DOI":"10.1109\/TRO.2008.921568"},{"key":"2019100323022481200_c16","first-page":"805","article-title":"Nonholonomic Kinematics and Dynamics of the Spherical","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, IROS\u20192000","author":"Camicia"},{"issue":"5\u20136","key":"2019100323022481200_c17","first-page":"463","article-title":"Rolling Based Manipulation Under Neighborhood Equilibrium","volume":"21","author":"Harada","journal-title":"Int. J. Robot. Res.","ISSN":"https:\/\/id.crossref.org\/issn\/0278-3649","issn-type":"print"},{"key":"2019100323022481200_c18","doi-asserted-by":"crossref","unstructured":"Suzuki, K., Svinin, M., and Hosoe, S., 2005, \u201cMotion Planning for Rolling Based Locomotion,\u201d Journal of Robotics and Mechatronics, 17(5), pp. 537\u2013545.","DOI":"10.20965\/jrm.2005.p0537"},{"issue":"5","key":"2019100323022481200_c19","doi-asserted-by":"crossref","first-page":"678","DOI":"10.1109\/9.920786","article-title":"The Dynamics of a Forced Sphere-Plate Mechanical System","volume":"46","author":"Hristu-Varsakelis","journal-title":"IEEE Trans. Autom. Control","ISSN":"https:\/\/id.crossref.org\/issn\/0018-9286","issn-type":"print"},{"issue":"5\u20136","key":"2019100323022481200_c20","first-page":"475","article-title":"Rolling Manipulation With a Single Control","volume":"21","author":"Choudhury","journal-title":"Int. J. Robot. Res.","ISSN":"https:\/\/id.crossref.org\/issn\/0278-3649","issn-type":"print"},{"key":"2019100323022481200_c21","volume-title":"Virtual Reality Technology","author":"Burdea","edition":"2nd ed."},{"issue":"3","key":"2019100323022481200_c22","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1177\/027836498800700302","article-title":"The Kinematics of Contact and Grasp","volume":"7","author":"Montana","journal-title":"Int. J. Robot. Res.","ISSN":"https:\/\/id.crossref.org\/issn\/0278-3649","issn-type":"print"},{"key":"2019100323022481200_c23","doi-asserted-by":"crossref","volume-title":"A Mathematical Introduction to Robotic Manipulation","author":"Murray","DOI":"10.1201\/9781315136370"},{"key":"2019100323022481200_c24","doi-asserted-by":"crossref","volume-title":"Dynamics of Systems of Rigid Bodies","author":"Wittenburg","DOI":"10.1007\/978-3-322-90942-8"},{"key":"2019100323022481200_c25","doi-asserted-by":"crossref","DOI":"10.1090\/mmono\/033","article-title":"Dynamics of Nonholonomic Systems","volume-title":"Translation of Mathematical Monographs","author":"Neimark"},{"key":"2019100323022481200_c26","article-title":"Analytical Mechanics","volume-title":"Foundations of Engineering Mechanics","author":"Lurie"},{"key":"2019100323022481200_c27","volume-title":"Numerical Recipes in C: The Art of Scientific Computing","author":"Press"},{"key":"2019100323022481200_c28","doi-asserted-by":"crossref","unstructured":"Goncharenko, I., Svinin, M., Kanou, Y., and Hosoe, S., 2006, \u201cPredictability of Rest-to-Rest Movements in Haptic Environments With 3D Constraints,\u201d Journal of Robotics and Mechatronics, 18(4), pp. 458\u2013466.","DOI":"10.20965\/jrm.2006.p0458"},{"key":"2019100323022481200_c29","volume-title":"Matrix Analysis","author":"Horn"},{"key":"2019100323022481200_c30","volume-title":"Force and Touch Feedback for Virtual Reality","author":"Burdea"},{"key":"2019100323022481200_c31","unstructured":"SensAble Devices Inc., PHANToM Master User\u2019s Manual, http:\/\/sensable.com."},{"key":"2019100323022481200_c32","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig","edition":"2nd ed."},{"key":"2019100323022481200_c33","first-page":"339","article-title":"Stability Problems in Contact Tasks","volume-title":"Robotics Review","author":"Hogan"},{"issue":"6","key":"2019100323022481200_c34","doi-asserted-by":"publisher","first-page":"712","DOI":"10.1109\/70.897782","article-title":"Guaranteed Stability of Haptic Systems With Nonlinear Virtual Environments","volume":"16","author":"Miller","journal-title":"IEEE Trans. Rob. Autom.","ISSN":"https:\/\/id.crossref.org\/issn\/1042-296X","issn-type":"print"},{"key":"2019100323022481200_c35","volume-title":"Modern Differential Geometry of Curves and Surfaces With Mathematica","author":"Gray","edition":"2nd ed."},{"key":"2019100323022481200_c36","first-page":"688","article-title":"Principles of Rhythmic Motor Pattern Generation","volume":"76","author":"Marder","journal-title":"Physiol. Rev.","ISSN":"https:\/\/id.crossref.org\/issn\/0031-9333","issn-type":"print"},{"key":"2019100323022481200_c37","doi-asserted-by":"publisher","first-page":"345","DOI":"10.1007\/BF00319514","article-title":"Mechanisms of Frequency and Pattern Control in the Neural Rhythm Generators","volume":"56","author":"Matsuoka","journal-title":"Biol. Cybern.","ISSN":"https:\/\/id.crossref.org\/issn\/0340-1200","issn-type":"print"}],"container-title":["Journal of Computing and Information Science in Engineering"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/doi\/10.1115\/1.3074282\/5774976\/011004_1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"http:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/doi\/10.1115\/1.3074282\/5774976\/011004_1.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,2]],"date-time":"2021-10-02T20:57:05Z","timestamp":1633208225000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmedigitalcollection.asme.org\/computingengineering\/article\/doi\/10.1115\/1.3074282\/398389\/Dynamic-Model-Haptic-Solution-and-HumanInspired"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,2,20]]},"references-count":37,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2009,3,1]]}},"URL":"https:\/\/doi.org\/10.1115\/1.3074282","relation":{},"ISSN":["1530-9827","1944-7078"],"issn-type":[{"value":"1530-9827","type":"print"},{"value":"1944-7078","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,2,20]]},"article-number":"011004"}}