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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Detalles Bibliográficos
Autores principales: Rezapour, Ehsan, Pettersen, Kristin Y, Liljebäck, Pål, Gravdahl, Jan T, Kelasidi, Eleni
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Springer Berlin Heidelberg 2014
Materias:
Research
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4648989/
https://www.ncbi.nlm.nih.gov/pubmed/26613075
http://dx.doi.org/10.1186/s40638-014-0003-6

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4648989/
https://www.ncbi.nlm.nih.gov/pubmed/26613075
http://dx.doi.org/10.1186/s40638-014-0003-6

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