Publication detail

Control of the trident square robot

NÁVRAT, A. KUBIENA, J.

English title

Control of the trident square robot

Type

Scopus Article

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.

Keywords in English

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

Released

2015-06-19

ISSN

1803-3814

Journal

Mendel Journal series

Volume

2015

Number

6

Pages from–to

115–120

Pages count

6

BIBTEX


@article{BUT121723,
  author="Aleš {Návrat} and Jaromír {Kubiena}",
  title="Control of the trident square robot",
  journal="Mendel Journal series",
  year="2015",
  volume="2015",
  number="6",
  pages="115--120",
  issn="1803-3814"
}