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Path following control of planar snake robots using virtual holonomic constraints: theory and experiments
This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange equations of motion of the system. Subsequently, we define geometric relatio...
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| Publicado no: | Robotics Biomim |
|---|---|
| Main Authors: | , , , , |
| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
Springer Berlin Heidelberg
2014
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| Assuntos: | |
| Acesso em linha: | https://ncbi.nlm.nih.gov/pmc/articles/PMC4648989/ https://ncbi.nlm.nih.gov/pubmed/26613075 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1186/s40638-014-0003-6 |
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