Kinematic gait synthesis for snake robots
Snake robots are highly articulated mechanisms that can perform a variety of motions that
conventional robots cannot. Despite many demonstrated successes of snake robots, these …
conventional robots cannot. Despite many demonstrated successes of snake robots, these …
Motion planning for redundant multi-bodied planar kinematic snake robots
In this paper, the motion planning problem for planar snake-like robots with more than three
links that is subjected to nonholonomic constraints is solved explicitly. In other words, for a …
links that is subjected to nonholonomic constraints is solved explicitly. In other words, for a …
[PDF][PDF] Interactive Planning for Shepherd Motion.
JM Lien, E Pratt - AAAI Spring Symposium: Agents that Learn from …, 2009 - cdn.aaai.org
Shepherding problem asks how the movement of an agent (eg, predator, policeman, or
sheepdog) can push a group of agents (eg, prey, crowd, or sheep) from one position to …
sheepdog) can push a group of agents (eg, prey, crowd, or sheep) from one position to …
A geometric approach to modeling of four-and five-link planar snake-like robot
T Lipták, I Virgala, P Frankovský… - … journal of advanced …, 2016 - journals.sagepub.com
The article deals with the issue of use of geometric mechanics tools in modelling
nonholonomic systems. The introductory part of the article contains fiber bundle theory that …
nonholonomic systems. The introductory part of the article contains fiber bundle theory that …
On motion planning and control for partially differentially flat systems
This paper deals with motion planning and control problems for a class of partially
differentially flat systems. They possess a feature that the derivative of the fiber variable can …
differentially flat systems. They possess a feature that the derivative of the fiber variable can …
Optimal reorientation of planar floating snake robots with collision avoidance
In this paper, a motion planning algorithm for floating planar under-actuated hyper-
redundant snake robots is proposed. The presented algorithm generates locally optimal …
redundant snake robots is proposed. The presented algorithm generates locally optimal …
A novel method for modeling skidding for systems with nonholonomic constraints
In this paper, the effect of wheel skidding on the steering motion of a simple vertical rolling
disk is investigated. By modifying the nonholonomic constraints, two novel dynamic models …
disk is investigated. By modifying the nonholonomic constraints, two novel dynamic models …
Modeling and control of casterboard robot
K Kinugasa, M Ishikawa, Y Sugimoto… - IFAC Proceedings Volumes, 2013 - Elsevier
In this paper, we propose a robotic model of a casterboard, which is a commercial variants of
skateboards with twistable footplates and passive inclined caster wheels. We then derive its …
skateboards with twistable footplates and passive inclined caster wheels. We then derive its …
Motion planning and control of planar serial chain articulating locomotion system
This paper addresses two important problems in motion planning and control of serial chain
planar articulating locomotion systems moving on a flat surface. Locomotion systems …
planar articulating locomotion systems moving on a flat surface. Locomotion systems …
Experimental gait analysis of waveboard locomotion
Through modeling and experimentation, we analyze common gaits on a waveboard, an
underactuated mechanical system whose motion is governed by both nonholonomic …
underactuated mechanical system whose motion is governed by both nonholonomic …