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|Title: ||Kinematic controllability and motion planning for the snakeboard|
|Authors: ||Bullo, Francesco|
Lewis, Andrew D.
|Issue Date: ||2003|
|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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|Appears in Collections:||Andrew D. Lewis|
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