Publication detail

Control of the trident square robot

NÁVRAT, A. KUBIENA, J.

Original Title

Control of the trident square robot

English Title

Control of the trident square robot

Type

journal article in Scopus

Language

en

Original Abstract

The trident square robot is a modification of the trident snake robot, a well known nonholonomic mechanism. By means of the geometric control theory, we discuss its kinematics, local controllability and then we propose a motion planning algorithm.

English abstract

The trident square robot is a modification of the trident snake robot, a well known nonholonomic mechanism. By means of the geometric control theory, we discuss its kinematics, local controllability and then we propose a motion planning algorithm.

Keywords

Trident snake robot, nonholonomic system,pfaffian constraints, Lie bracket, nonintegrable distribution, geometric control

RIV year

2015

Released

19.06.2015

Pages from

115

Pages to

120

Pages count

6

Documents

BibTex


@article{BUT121723,
  author="Aleš {Návrat} and Jaromír {Kubiena}",
  title="Control of the trident square robot",
  annote="The trident square robot is a modification of the trident snake robot, a well known nonholonomic mechanism. By means of the geometric control theory, we discuss its kinematics, local controllability and then we propose a motion planning algorithm.",
  chapter="121723",
  howpublished="print",
  number="6",
  volume="2015",
  year="2015",
  month="june",
  pages="115--120",
  type="journal article in Scopus"
}