Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 3743-3748

  Nagarajan, Umashankar ^a   Kantor, George ^a   Hollis, Ralph L ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMIC CONSTRAINTS; FEEDBACK CONTROLLER; NONHOLONOMIC DYNAMICS; OFFLINE; OPTIMIZATION TECHNIQUES; TRACKING CONTROLLER; TRAJECTORY PLANNING; TRAJECTORY PLANNING ALGORITHM; TRAJECTORY TRACKING; UNACTUATED; UNDER-ACTUATED SYSTEMS; UNDERACTUATED; WHEELED MOBILE ROBOT;

MOBILE ROBOTS; OPTIMAL SYSTEMS; ROBOTICS; TRAJECTORIES;

ROBOT PROGRAMMING;

EID: 70350370270     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152624     Document Type: Conference Paper

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