Motion planning for the Snakeboard-Reference-Cited by-同舟云学术

Motion planning for the Snakeboard

Published:2012-04-26 Issue:7 Volume:31 Page:872-885
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Shammas Elie¹,de Oliveira Maurício²

Affiliation:

1. Department of Mechanical Engineering, American University of Beirut, Lebanon

2. Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA

Abstract

This paper provides an analytical solution to the motion-planning problem for the Snakeboard. Given a desired planar trajectory in the fiber space, an explicit solution is computed for the controllable inputs in the base space that locomote the Snakeboard along a given trajectory. The motion-planning problem or gait generation problem is solved for the generalized Snakeboard where the orientation of the wheels is not coupled, as well as for several special configurations of the Snakeboard.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/0278364912441954

Reference13 articles.

1. Kinematic controllability and motion planning for the snakeboard

2. Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems

3. Nonlinear control of mechanical systems: A Lagrangian perspective

Cited by 13 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Motion planning and control of planar serial chain articulating locomotion system;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2024-03-03

2. Experimental Investigations of the Controlled Motion of the Roller Racer Robot;Robotics for Sustainable Future;2021-09-04

3. Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard;2021 IEEE International Conference on Robotics and Automation (ICRA);2021-05-30

4. An autonomous mobile robot with passive wheels propelled by a single motor;Robotics and Autonomous Systems;2019-12

5. Guided Motion Planning for Snake-like Robots Based on Geometry Mechanics and HJB Equation;IEEE Transactions on Industrial Electronics;2019-09