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Nonholonomic mechanics and locomotion: the snakeboard example

Ostrowski, Jim and Lewis, Andrew and Murray, Richard and Burdick, Joel (1994) Nonholonomic mechanics and locomotion: the snakeboard example. In: Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 2391-2397. ISBN 0-8186-5330-2.

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Analysis and simulations are performed for a simplified model of a commercially available variant of the skateboard, known as the Snakeboard. Although the model exhibits basic gait patterns seen in a large number of locomotion problems, the analysis tools currently available do not apply to this problem. The difficulty lies primarily in the way in which the nonholonomic constraints enter into the system. As a first step towards understanding systems represented by their model the authors present the equations of motion and perform some controllability analysis for the snakeboard. The authors also perform numerical simulations of possible gait patterns which are characteristic of snakeboard locomotion.

Item Type:Book Section
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Murray, Richard0000-0002-5785-7481
Additional Information:© 1994 IEEE.
Record Number:CaltechAUTHORS:20190315-142601604
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Official Citation:J. Ostrowski, A. Lewis, R. Murray and J. Burdick, "Nonholonomic mechanics and locomotion: the snakeboard example," Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, USA, 1994, pp. 2391-2397 vol.3. doi: 10.1109/ROBOT.1994.351153
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93892
Deposited By: Tony Diaz
Deposited On:15 Mar 2019 21:34
Last Modified:03 Oct 2019 20:58

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