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...

Deskribapen osoa

Gorde:
Xehetasun bibliografikoak
Argitaratua izan da:Robotics Biomim
Egile Nagusiak: Rezapour, Ehsan, Pettersen, Kristin Y, Liljebäck, Pål, Gravdahl, Jan T, Kelasidi, Eleni
Formatua: Artigo
Hizkuntza:Inglês
Argitaratua: Springer Berlin Heidelberg 2014
Gaiak:
Research
Sarrera elektronikoa: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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