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Please use this identifier to cite or link to this item: http://hdl.handle.net/1974/208

Title: Kinematic controllability and motion planning for the snakeboard
Authors: Bullo, Francesco
Lewis, Andrew D.

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2001i_letter.pdf445.29 kBAdobe PDFView/Open
Issue Date: 2003
Publisher: IEEE
Citation: IEEE Transactions on Robotics and Automation 19(3), pages 494-498, 2003
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.
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URI: http://hdl.handle.net/1974/208
Appears in Collections:Andrew D. Lewis

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