DocumentCode
1222844
Title
Kinematic controllability and motion planning for the snakeboard
Author
Bullo, Francesco ; Lewis, Andrew D.
Author_Institution
Coordinated Sci. Lab., Univ. of Illinois, Urbana, IL, USA
Volume
19
Issue
3
fYear
2003
fDate
6/1/2003 12:00:00 AM
Firstpage
494
Lastpage
498
Abstract
The snakeboard is shown to possess two decoupling vector fields, and to be kinematically controllable. Accordingly, the problem of steering the snakeboard from a given configuration at rest to a desired configuration at rest is posed as a constrained static nonlinear inversion problem. An explicit algorithmic solution to the problem is provided, and its limitations are discussed. An ad hoc solution to the nonlinear inversion problem is also exhibited.
Keywords
controllability; path planning; robot kinematics; constrained static nonlinear inversion problem; decoupling vector fields; explicit algorithmic solution; kinematic controllability; motion planning; snakeboard; Control system analysis; Controllability; Kinematics; Lagrangian functions; Mathematical model; Motion control; Motion planning; Robot control; System testing; Trajectory;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/TRA.2003.810236
Filename
1206809
Link To Document