Motion planning for redundant multi-bodied planar kinematic snake robots

被引：0
|
作者：
Omar Itani
Elie Shammas
机构：
[1] American University of Beirut,Vision and Robotics Lab, Department of Mechanical Engineering
来源：
Nonlinear Dynamics | 2021年 / 104卷
关键词：
Nonholonomic motion planning; Over-constrained systems; Gait generation; Planar hyper-redundant robots; Snake robots;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, the motion planning problem for planar snake-like robots with more than three links that is subjected to nonholonomic constraints is solved explicitly. In other words, for a given desired planar trajectory and a set of initial conditions of the snake, a unique feasible gait is generated to ensure that the origin of the snake robot’s body frame traverses that path. Additionally, the generated gait ensures that all the nonholonomic constraints are satisfied for all time.
引用
收藏
页码：3845 / 3860
页数：15
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