The wheeled three-link snake model: singularities in nonholonomic constraints and stick-slip hybrid dynamics induced by Coulomb friction

DOI10.1007/s11071-018-4693-0zbMath1432.70033OpenAlexW2903847338MaRDI QIDQ2308155

Yizhar Or, Tal Yona

Publication date: 25 March 2020

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-018-4693-0

zbMATH Keywords

frictionnonholonomic systemshybrid dynamicsrobotic locomotionstick-slip transitionsunder-actuated robots

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Problems involving a system of particles with friction (70F40) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (5)

Steady-state dynamics and discontinuity-induced sliding bifurcation of a multi-module piecewise-smooth vibration-driven system with dry friction ⋮ A Nonholonomic Model and Complete Controllability of a Three-Link Wheeled Snake Robot ⋮ Nonholonomic dynamics and control of road vehicles: moving toward automation ⋮ Geometric analysis of gaits and optimal control for three-link kinematic swimmers ⋮ Plane-parallel motion of a snake robot in the presence of anisotropic dry friction and a single control input

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