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

Journal of Robotic Systems

Volumn 16, Issue 1, 1999, Pages 37-72

  Kyriakopoulos, K J ^a   Migadis, G ^a   Sarrigeorgidis, K ^b  

^a NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; FEEDBACK; INDUSTRIAL ROBOTS; KINEMATICS; MATHEMATICAL MODELS; MOTION PLANNING; ROBOTICS; SYSTEM STABILITY;

PLANAR KINEMATICS;

MOBILE ROBOTS;

EID: 0032733419     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-4563(199901)16:1<37::AID-ROB4>3.0.CO;2-V     Document Type: Article

References (44)

1. Y. Koren and Y. Shan, Design and motion planning of a mechanical snake, IEEE Trans Syst Man Cybernetics 23(4) (1993), 1091-1100.
2. G.S. Chirikjian and J.W. Burdick, Kinematically optimal hyper-redundant manipulator configurations, IEEE Trans Robotics Automat 11(6) (1995), 794-806.
3. S. Hirose and A. Morishima, Design and control of mobile robot with an articulated body, Int J Robotics Res 9(2) (1990), 99-114.
4. G. Migadis and K.J. Kyriakopoulos, Design and forward kinematic analysis of a robotic snake, in IEEE International Conference on Robotics and Automation, April 1997.
5. R.M. Murray and S. Sastry, Nonholonomic motion planning: Steering using sinusoids, IEEE Trans Automat Control 38 (1993), 700-716.
6. O.J. Sordalen, Conversion of the kinematics of a car with n trailers into a chained form, in 32nd IEEE International Conference on Robotics and Automation, April 1993, pp 382-387.
7. R. Murray, D. Tilbury, and S. Sastry, Trajectory generation for the n-trailer problem using Goursat normal forms, IEEE Trans Automat Control 40 (1995), 802-819.
8. L. Bushnell, D. Tilbury, and S.S. Sastry, Steering three input chained form nonholonomic systems using sinusoids: The firetruck example, in European Control Conference 1993, pp 1432-1437.
9. L. Bushnell, D. Tilbury, O. Sordalen, and S. Sastry, A multi-steering trailer system: Conversion into chained form using dynamic feedback, in IFAC Symposium on Robot Control, September 1994.
10. L. Bushnell, An obstacle avoidance algorithm for a car pulling trailers with off-axle hitching, in 34th IEEE Conference on Decision and Control, December 1995.
11. M. Fliess, Flatness, motion planning, and trailer systems, in 32th IEEE Conference on Decision and Control, December 1993, pp 2700-2705.
12. R. Brockett, Asymptotic stability and feedback stabilization, in Differential geometric control theory, Birkhauser, Boston, 1983, pp 181-208.
13. M. Reyhanoglu, A.M. Bloch, and N.H. McClamroch, Control and stabilization of nonholonomic dynamic systems, IEEE Trans Automat Control 37 (1992), 1746-1757.
14. R. Murray, A. Teel, and G. Walsh, Nonholonomic control systems: From steering to stabilization with sinusoids, in 31st IEEE Conference on Decision and Control, December 1992, pp 1603-1609.
15. O. Sordalen and O. Egeland, Exponential stabilization of nonholonomic chained systems, IEEE Trans Automat Control 40 (1995), 35-49.
16. G. Walsh and L. Bushnell, Stabilization of multiple input chained form control systems, in 32nd IEEE Conference on Decision and Control, December 1993, pp 959-964.
17. R. McCloskey and R. Murray, Exponential stabilization of driftless nonlinear control systems using homogeneous feedback, submitted.
18. P. Morin and C. Samson, Application of backstepping techniques to the time-varying exponential stabilization of chained form systems, in 35th IEEE Conference on Decision and Control, 1996.
19. S. Sastry, R. Murray, G. Walsh, D. Tilbury, and J.P. Laumond, Stabilization of trajectories for systems with nonholonomic constraints, IEEE Trans Automat Conrol 39 (1994), 216-222.
20. J. Levine, P. Rouchon, M. Fliess, and P. Martin, Flatness, motion planning and trailer systems, in 32nd IEEE Conference on Robotics and Automation, December 1993, pp 2700-2705.
21. P. Martin, M. Fliess, J. Levine, and P. Rouchon, Design of trajectory stabilizing feedback for driftless flat systems, in European Control Conference, 1995.
22. T. Kobayashi, M. Sampei, T. Tamura, and N. Shibui, Arbirary path tracking control of articulated vehicles using nonlinear control theory, IEEE Trans Control Syst Technol 3 (1995), 125-131.
23. C. Samson, Control of chained systems. Application to path following and time-varying point-stabilization of mobile robots, IEEE Trans Automat Control 40 (1995), 64-77.
24. R.L. Bryant, S.S. Chern, R.B. Gardner, H.L. Goldschmidt, and P. A. Griffiths, Exterior differential systems, Springer, Berlin, 1991.
25. S. Hirose, Biologically inspired robots, Oxford University Press, 1993.
26. E.F. Fukusima, S. Hirose, and S. Tsukagoshi, Basic steering control methods for the articulated mobile robot, IEEE Control Sys Mag 15(1) (1995), 5-14.
27. C. Gans, How snakes move, Scientific American 222 (1970), 82-96.
28. G. Migadis and G. Karavokyros, Design and forward kinematic analysis of a robotic snake, technical report dipl. thesis, Control Systems Lab, Mechanical Engineering Department, NTUA, 1996 (in Greek).
29. J. Alexander and J. Maddocks, On the kinematics of wheeled mobile robots, Int J Robotics Res 8 (1989), 15-27.
30. D. Tilbury and A. Chelouah, Steering a three-input nonholonomic system using multirate controls, in European Control Conference, 1993, pp 1428-1431.
31. S. Monaco and D. Normand-Cyrot, An introduction to motion planning under multirate digital control, in 31st IEEE Conference on Decision and Control, 1992, pp 1780-1785.
32. A. Chelouah and M. Petitot, Finitely discretizable nonlinear systems: concepts and definitions, in 34th IEEE Conference on Decision and Control, December 1995.
33. A. Chelouah, Sur la commande en temps discret de systemes non lineares continus. PhD thesis, Universite Paris Sud-Orsay, 1994.
34. M. Kawski, Nilpotent lie algebras of vector fields, J Reine Angew Math 7 (1988), 1-17.
35. M. Kawski, Homogenous stabilizing feedback laws, Control Theory Adv Tech 6(4) (1990), 497-516.
36. J. Levine, B. Charlet, and R. Marino, On dynamic feedback linearization Systems Control Lett 13 (1989) 143-151.
37. H. Nijmeijer and W. Respondek, Dynamic input-output decoupling of nonlinear control systems, IEEE Trans Automat Control 33 (1988), 1065-1070.
38. S. Sastry, D. Tilbury, and R. Murray, Trajectory generation for the n-trailer problem using Goursat normal form, in 32nd IEEE Conference on Decision and Control, 1993.
39. W. Boothby, An introduction to differentiable manifolds and Riemannian geometry, Academic Press, Boston, 1986.
40. D. Tilbury and S. Sastry, On Goursat normal forms, prolongations and control systems, in 34th IEEE Conference on Decision and Control, December 1994.
41. R.M. Murray, Nilpotent bases for a class of nonholonomic distributions with applications to trajectory generation for nonholonomic systems, technical report CIT/CDS 92-002, California Institute of Technology, 1992.
42. R.M. Murray, Applications and extensions of Goursat normal forms to control of nonlinear systems, in 32nd IEEE Conference on Decision and Control, 1993, pp 3425-3430.
43. L. Bushnell, D. Tilbury, and S.S. Sastry, Extended Goursat normal forms with applications to nonholonomic motion planning, in 32nd IEEE Conference on Decision and Control, 1993, pp 3447-3452.
44. S.L. Sluis, Absolute equivalence and its applications to control theory, PhD thesis, University of Waterloo, 1992.