Minimum control-switch motions for the snakeboard: A case study in kinematically controllable underactuated systems

IEEE Transactions on Robotics

Volumn 20, Issue 6, 2004, Pages 994-1006

  Iannitti, Stefano ^a   Lynch, Kevin M ^b  

^a ITALIAN SPACE AGENCY   (Italy)

^b Northwestern University   (United States)

Author keywords

Decoupling vector field; Dynamic underactuated systems; Kinematic controllability; Kinematic reduction; Motion planning; Nonholonomic constraints; Snakeboard; Switch optimal motions

Indexed keywords

EQUATIONS OF MOTION; KINEMATICS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOTION CONTROL; POSITION CONTROL; VECTORS;

DECOUPLING VETOR FIELD; DYNAMIC UNDERACTUATED SYSTEMS; KINEMATIC CONTROLLABILITY; KINEMATIC REDUCTION; NONHOLONOMIC CONTRAINTS; SNAKEBOARD; SWITCH OPTIMAL MOTIONS;

MOTION PLANNING;

EID: 10944262670     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.829455     Document Type: Article

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