Detail publikace

Control of the trident square robot

NÁVRAT, A. KUBIENA, J.

Anglický název

Control of the trident square robot

Typ

Článek Scopus

Jazyk

en

Originální abstrakt

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.

Klíčová slova anglicky

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

Vydáno

2015-06-19

ISSN

1803-3814

Časopis

Mendel Journal series

Ročník

2015

Číslo

6

Strany od–do

115–120

Počet stran

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"
}