Kinematic controllability and motion planning for the snakeboard
| dc.contributor.author | Bullo, Francesco | en |
| dc.contributor.author | Lewis, Andrew D. | en |
| dc.date.accessioned | 2005-07-21T14:05:58Z | |
| dc.date.available | 2005-07-21T14:05:58Z | |
| dc.date.issued | 2003 | |
| dc.description | The IEEE has asked that authors display copyright information for the online versions of IEEE publications. Here's my announcement. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. | en |
| dc.description.abstract | The snakeboard is shown to be kinematically controllable. Associated with the two decoupling vector fields for the problem, a constrained static nonlinear programming problem is posed whose solutions provide a solution to the problem of steering the snakeboard from a given configuration at rest to a desired configuration at rest. An explicit solution to the problem is provided, and the limitations of this explicit solution are discussed. A few ad hoc solutions to the nonlinear programming problem are also exhibited. | en |
| dc.format.extent | 455980 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.citation | IEEE Transactions on Robotics and Automation 19(3), pages 494-498, 2003 | en |
| dc.identifier.uri | http://hdl.handle.net/1974/208 | |
| dc.language.iso | en | |
| dc.publisher | IEEE | en |
| dc.title | Kinematic controllability and motion planning for the snakeboard | en |
| dc.type | preprint | en |