Motion Planning for Variable Inertia Mechanical Systems

DOI10.1007/978-3-540-68405-3_24zbMath1194.93153OpenAlexW1967891087MaRDI QIDQ3564325

Howie Choset, Elie Shammas, Alfred A. Rizzi

Publication date: 2 June 2010

Published in: Springer Tracts in Advanced Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-68405-3_24

zbMATH Keywords

dynamic systemsnon-holonomic constraintsbody coordinatesgeometric and dynamic phase shifts

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Cites Work

• Unnamed Item
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Nonholonomic motion planning: steering using sinusoids
• Reduction, symmetry, and phases in mechanics

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