Motion planning for an underactuated planar robot in a viscous environment

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dc.contributor.authorShammas, Elie A.
dc.contributor.authorAsmar, Daniel C.
dc.contributor.departmentDepartment of Mechanical Engineering
dc.contributor.facultyMaroun Semaan Faculty of Engineering and Architecture (MSFEA)
dc.contributor.institutionAmerican University of Beirut
dc.date.accessioned2025-01-24T11:32:04Z
dc.date.available2025-01-24T11:32:04Z
dc.date.issued2015
dc.description.abstractIn this paper, we solve the motion planning problem for a class of underactuated multibodied planar mechanical systems. These systems interact with the environment via viscous frictional forces. The motion planning problem is solved by specifying the location of friction pads on the robot as well as by specifying the input of the actuated degrees of freedom. Moreover, through the proposed novel motion planning analysis, we identify the simplest planar swimming robot, the two-link swimmer. Copyright © 2015 by ASME.
dc.identifier.doihttps://doi.org/10.1115/1.4029509
dc.identifier.eid2-s2.0-84994036050
dc.identifier.urihttp://hdl.handle.net/10938/27674
dc.language.isoen
dc.publisherAmerican Society of Mechanical Engineers (ASME)
dc.relation.ispartofJournal of Computational and Nonlinear Dynamics
dc.sourceScopus
dc.subjectDegrees of freedom (mechanics)
dc.subjectFriction
dc.subjectMotion planning
dc.subjectRobots
dc.subjectFrictional forces
dc.subjectMechanical systems
dc.subjectMotion planning problems
dc.subjectPlanar robots
dc.subjectSwimming robot
dc.subjectTwo-link
dc.subjectUnderactuated
dc.subjectRobot programming
dc.titleMotion planning for an underactuated planar robot in a viscous environment
dc.typeArticle

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