A Whole-body Path-following Feedback Control Method for a Multi-steering Snake-like Robot Based on Lyapunov Stability Theory
Author:
Affiliation:
1. Graduate School of Science and Engineering, Aoyama Gakuin University
2. College of Science and Engineering, Aoyama Gakuin University
Publisher
The Society of Instrument and Control Engineers
Link
https://www.jstage.jst.go.jp/article/sicetr/56/9/56_442/_pdf
Reference14 articles.
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3. 6) J. Ostrowski and J. Burdick: The Geometric Mechanics of Undulatory Robotic Locomotion, International Journal of Robotics Research, 17-7, 683/701 (1998)
4. 7) P.S. Krishnaprasad and D.P. Tsakiris: Oscillations, SE(2)-Snakes and Motion Control: A Study of the Roller Racer, Dynamical Systems, 16-4, 347/397 (2001)
5. 8) S. Chitta, F.W. Heger and V. Kumar: Design and Gait Control of a Rollerblading Robot, Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 4, 3944/3949 (2004)
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1. Whole-Body Path-Following Control of a Multi-Steering Snake-Like Robot Performing Undulatory Locomotion;2024 9th International Conference on Control and Robotics Engineering (ICCRE);2024-05-10
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