{"title":"蛇形板的运动学可控性与运动规划","authors":"F. Bullo, A. D. Lewis","doi":"10.1109/TRA.2003.810236","DOIUrl":null,"url":null,"abstract":"The snakeboard is shown to possess two decoupling vector fields, and to be kinematically controllable. Accordingly, the problem of steering the snakeboard from a given configuration at rest to a desired configuration at rest is posed as a constrained static nonlinear inversion problem. An explicit algorithmic solution to the problem is provided, and its limitations are discussed. An ad hoc solution to the nonlinear inversion problem is also exhibited.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"71","resultStr":"{\"title\":\"Kinematic controllability and motion planning for the snakeboard\",\"authors\":\"F. Bullo, A. D. Lewis\",\"doi\":\"10.1109/TRA.2003.810236\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The snakeboard is shown to possess two decoupling vector fields, and to be kinematically controllable. Accordingly, the problem of steering the snakeboard from a given configuration at rest to a desired configuration at rest is posed as a constrained static nonlinear inversion problem. An explicit algorithmic solution to the problem is provided, and its limitations are discussed. An ad hoc solution to the nonlinear inversion problem is also exhibited.\",\"PeriodicalId\":161449,\"journal\":{\"name\":\"IEEE Trans. Robotics Autom.\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2003-06-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"71\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Trans. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/TRA.2003.810236\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Trans. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/TRA.2003.810236","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematic controllability and motion planning for the snakeboard
The snakeboard is shown to possess two decoupling vector fields, and to be kinematically controllable. Accordingly, the problem of steering the snakeboard from a given configuration at rest to a desired configuration at rest is posed as a constrained static nonlinear inversion problem. An explicit algorithmic solution to the problem is provided, and its limitations are discussed. An ad hoc solution to the nonlinear inversion problem is also exhibited.
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