Name
Abstract | ||
|---|---|---|
In this paper we generate gaits for dynamics systems that are subject to non-holonomic velocity constraints. These systems are referred to as mixed non-holonomic systems. The motion of such systems is governed by both the non-holonomic constraints acting on the system and a system of differential equations constraining the evolution of generalized momentum. We propose a method that utilizes both governing motions, that is, satisfying all the constraints and instantaneously conserving momentum along un-restricted directions, to generate gaits for systems like the snakeboard, which belongs to the family of mixed non-holonomic systems. We accomplish this by defining a new scaled momentum variable. This scaled momentum allows us to easily explore the design of gaits that causes momentum to evolve such that a desired non-trivial motion results. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ROBOT.2006.1641940 | ICRA |
Keywords | Field | DocType |
differential equations,mobile robots,momentum,motion control,robot dynamics,robot kinematics,velocity control,automated gait generation,differential equations,dynamic systems,generalized momentum,nonholonomic velocity constraints | Differential equation,Motion control,Holonomic constraints,Gait,Control theory,Robot kinematics,Control engineering,Momentum,Dynamical system,Mobile robot,Physics | Conference |
Volume | Issue | ISSN |
2006 | 1 | 1050-4729 |
Citations | PageRank | References |
1 | 0.36 | 12 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Elie A. Shammas | 1 | 131 | 18.06 |
| Howie Choset | 2 | 2826 | 257.12 |
| Alfred A. Rizzi | 3 | 1208 | 179.03 |