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 …

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 …

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 …

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 …

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 …

In this paper, a motion planning algorithm for floating planar under-actuated hyper-
redundant snake robots is proposed. The presented algorithm generates locally optimal …

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 …

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 …

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 …

Through modeling and experimentation, we analyze common gaits on a waveboard, an
underactuated mechanical system whose motion is governed by both nonholonomic …