Communications in Information and Systems
Volume 10 (2010)
Kinematics of the Rolling Sphere and Quantum Spin
Pages: 221 – 238
We consider the kinematics and control of a sphere rolling of a curved surface and analyze its rotation by mapping the system to the precession of a spin 1/2 in a magnetic field of variable magnitude and direction. This mapping is useful in understanding the role of the geometrical phase and generalizes the kinematic control problem of a ball rolling on a plane.