Realtime locomotion control of a snakeboard robot based on a novel model, enabling better physical insights

DOI10.1016/J.EJCON.2018.07.004zbMath1405.93163OpenAlexW2884913238WikidataQ129459527 ScholiaQ129459527MaRDI QIDQ1712915

Michiel Haemers, Florian Verbelen, Kurt Stockman, Stijn Derammelaere, Cosmin Copot, Bram Vervisch, Clara M. Ionescu

Publication date: 24 January 2019

Published in: European Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.ejcon.2018.07.004

zbMATH Keywords

motion controlnonholonomictrajectory controlsnakeboard

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Nonholonomic systems related to the dynamics of a system of particles (70F25) Dynamics of multibody systems (70E55) Artificial intelligence for robotics (68T40)

Related Items (1)

Plane-parallel motion of a snake robot in the presence of anisotropic dry friction and a single control input

Cites Work

• Unnamed Item
• Trajectory tracking for a wheeled mobile robot using a vision based positioning system and an attitude observer
• Further development of the mathematical model of a snakeboard
• Some flower-like gaits in the snakeboard locomotion
• Adaptive control for a mobile robot under slip conditions using an LMI-based approach
• The pole-zero cancellation problem in adaptive control: A solution for minimum phase systems by approximate models

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