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On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

Abstract

Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.
Authors:
Asnafi, Alireza; [1]  Mahzoon, Mojtaba [2] 
  1. Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)
  2. Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)
Publication Date:
Sep 15, 2011
Product Type:
Journal Article
Resource Relation:
Journal Name: Bioinspiration and Biomimetics (Online); Journal Volume: 6; Journal Issue: 3; Other Information: DOI: 10.1088/1748-3182/6/3/036005; PII: S1748-3182(11)83641-0
Subject:
22 GENERAL STUDIES OF NUCLEAR REACTORS; ERRORS; FIBERS; REGULATIONS; ROBOTS; TRAJECTORIES; EQUIPMENT; LAWS
OSTI ID:
21536228
Country of Origin:
United Kingdom
Language:
English
Other Identifying Numbers:
Journal ID: ISSN 1748-3190; TRN: GB12O3073015237
Availability:
Available from http://dx.doi.org/10.1088/1748-3182/6/3/036005
Submitting Site:
GBN
Size:
15 pages
Announcement Date:
Mar 28, 2012

Citation Formats

Asnafi, Alireza, and Mahzoon, Mojtaba. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems. United Kingdom: N. p., 2011. Web. doi:10.1088/1748-3182/6/3/036005.
Asnafi, Alireza, & Mahzoon, Mojtaba. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems. United Kingdom. doi:10.1088/1748-3182/6/3/036005.
Asnafi, Alireza, and Mahzoon, Mojtaba. 2011. "On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems." United Kingdom. doi:10.1088/1748-3182/6/3/036005. https://www.osti.gov/servlets/purl/10.1088/1748-3182/6/3/036005.
@misc{etde_21536228,
title = {On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems}
author = {Asnafi, Alireza, and Mahzoon, Mojtaba}
abstractNote = {Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.}
doi = {10.1088/1748-3182/6/3/036005}
journal = {Bioinspiration and Biomimetics (Online)}
issue = {3}
volume = {6}
place = {United Kingdom}
year = {2011}
month = {Sep}
}