Cargando…
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...
| Autores principales: | , , , , |
|---|---|
| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Springer Berlin Heidelberg
2014
|
| Materias: | |
| 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 |