Publication detail

Control of the trident square robot

NÁVRAT, A. KUBIENA, J.

Original Title

Control of the trident square robot

Type

journal article in Scopus

Language

English

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

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

Authors

NÁVRAT, A.; KUBIENA, J.

RIV year

2015

Released

19. 6. 2015

ISBN

1803-3814

Periodical

Mendel Journal series

Year of study

2015

Number

6

State

Czech Republic

Pages from

115

Pages to

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"
}