Towards a unified approach to motion planning for dynamic underactuated mechanical systems with non-holonomic constraints

International Journal of Robotics Research

Volumn 26, Issue 10, 2007, Pages 1075-1124

  Shammas, Elie A ^a   Choset, Howie ^a   Rizzi, Alfred A ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

Gait generation; Generalized momentum; Mixed mechanical systems; Motion control; Non holonomic motion planning; Scaled momentum; Stokes' theorem; Underactuated robots; Variable inertia snakeboard

Indexed keywords

CONSTRAINT THEORY; GAIT ANALYSIS; MOTION CONTROL; ROBOTS; THEOREM PROVING;

GAIT GENERATION; GENERALIZED MOMENTUM; MIXED MECHANICAL SYSTEMS; SCALED MOMENTUM; STOKES' THEOREM; UNDERACTUATED ROBOTS; VARIABLE INERTIA SNAKEBOARD;

MOTION PLANNING;

EID: 34748842036     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364907082098     Document Type: Article

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