Motion Planning for a Spherical Mobile Robot: Revisiting the Classical Ball-Plate Problem

@3# Halme, A., Schonberg, T., and Wang, Y., 1996, ‘‘Motion Control of a Spherical Mobile Robot,’’ Proc. of 4th Int. Workshop on Advanced Motion Control ~AMC!, Mie Univ., Japan. @4# Bicchi, A., Balluchi, A., Prattichizzo, D., and Gorelli, A., 1997, ‘‘Intro

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