Kinematic controllability and motion planning for the snakeboard
نویسندگان
چکیده
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.
منابع مشابه
An Analytic Motion Planning Solution for the Snakeboard
This paper provides a closed-form analytical solution to the motion planning problem for the Snakeboard. Given a desired planar trajectory in the fiber space, an explicit solution is computed for the gaits in the base space that locomote the Snakeboard along the desired trajectory. This is achieved by introducing a new momentum-like variable that simplifies the Snakeboard’s equations of motion ...
متن کاملKinematic controllability for decoupled trajectory planning in underactuated mechanical systems
We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by timeoptimal time scaling. While this approach is well know...
متن کاملKinematic Controllability and Decoupled Trajectory Planning for Underactuated Mechanical Systems
We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. While this approach is well kno...
متن کاملNonholonomic Mechanics and Locomotion: The Snakeboard Example
Analysis and simulations are performed for a simplified model of a commercially available variant on the skateboard, known as the Snakeboard. Although the model exhibits basic gait patterns seen in a large number of locomotion problems, the analysis tools currently available do not apply to this problem. The difficulty is seen to lie primarily in the way in which the nonholonomic constraints en...
متن کاملA Framework for Steering Dynamic Robotic Locomotion Systems
We seek to formulate control and motion planning algorithms for a class of dynamic robotic locomo-tion systems. We consider mechanical systems that involve some type of interaction with the environment and have dynamics that possess rotational and translational symmetries. Research in nonholo-nomic systems and geometric mechanics has led to a single, simpliied framework that describes this clas...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 19 شماره
صفحات -
تاریخ انتشار 2003