Kinematic controllability and motion planning for the snakeboard

被引：49
|
作者：
Bullo, F
Lewis, AD
机构：
[1] Univ Illinois, Coordinated Sci Lab, Urbana, IL 61801 USA
[2] Queens Univ, Dept Math & Stat, Kingston, ON K7L 3N6, Canada
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2003年 / 19卷 / 03期
关键词：
inverse kinematics; kinematic controllability; motion planning; snakeboard;
D O I：
10.1109/TRA.2003.810236
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：494 / 498
页数：5
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