The NTUA snake: Design, planar kinematics, and motion planning

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199901)16:1<37::AID-ROB4>3.0.CO;2-V" /><37::AID-ROB4>3.0.CO;2-V 10.1002/(SICI)1097-4563(199901)16:1<37::AID-ROB4>3.0.CO;2-VzbMath0930.70005OpenAlexW2003840687MaRDI QIDQ4248611

Kostas J. Kyriakopoulos, G. Migadis, K. Sarrigeorgidis

Publication date: 14 February 2000

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199901)16:1<37::aid-rob4>3.0.co;2-v

zbMATH Keywords

stabilizationfeedbacktrajectory trackingcoordinate transformationnonholonomic constraints\(n\)-trailermultiarticulated snake-like mobile robotmultiple-input systemrepeating modulessingle-generator chained form

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

A Historical Perspective of Legged Robots ⋮ Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory

Cites Work

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• Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
• Exponential stabilization of nonholonomic chained systems
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
• Trajectory generation for the N-trailer problem using Goursat normal form

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