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.
Asnafi, Alireza;
[1]
Mahzoon, Mojtaba
[2]
- Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)
- Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)
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.
https://doi.org/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.
https://doi.org/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 = []
issue = {3}
volume = {6}
place = {United Kingdom}
year = {2011}
month = {Sep}
}
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 = []
issue = {3}
volume = {6}
place = {United Kingdom}
year = {2011}
month = {Sep}
}