Nonholonomic mechanics and locomotion: the snakeboard example

dc.contributor.authorLewis, Andrew D.en
dc.contributor.authorOstrowski, James P.en
dc.contributor.authorBurdick, Joel W.en
dc.contributor.authorMurray, Richard M.en
dc.date.accessioned2005-07-21T13:41:42Z
dc.date.available2005-07-21T13:41:42Z
dc.date.issued1994
dc.descriptionThe 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.abstractAnalysis and simulations are performed for a simplified model of a commercially available variant on the skateboard, known as the Snakeboard.1 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 enter into the system. As a first step towards understanding systems represented by our model we present the equations of motion and perform some controllability analysis for the snakeboard. We also perform some numerical simulations of the gait patterns.en
dc.format.extent496593 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.citationProceedings of the 1994 IEEE International Conference on Robotics and Automation, May 1994, pages 2391-2400en
dc.identifier.urihttp://hdl.handle.net/1974/203
dc.language.isoen
dc.publisherIEEEen
dc.titleNonholonomic mechanics and locomotion: the snakeboard exampleen
dc.typepreprinten
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