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Published May 1994 | Published
Book Section - Chapter Open

Nonholonomic mechanics and locomotion: the snakeboard example


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.

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© 1994 IEEE.

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August 20, 2023
August 20, 2023