Motion planning for redundant multi-bodied planar kinematic snake robots
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Springer Science and Business Media B.V.
Abstract
In this paper, the motion planning problem for planar snake-like robots with more than three links that is subjected to nonholonomic constraints is solved explicitly. In other words, for a given desired planar trajectory and a set of initial conditions of the snake, a unique feasible gait is generated to ensure that the origin of the snake robot’s body frame traverses that path. Additionally, the generated gait ensures that all the nonholonomic constraints are satisfied for all time. © 2021, The Author(s), under exclusive licence to Springer Nature B.V.
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Gait generation, Nonholonomic motion planning, Over-constrained systems, Planar hyper-redundant robots, Snake robots, Motion planning, Robots, Body frames, Initial conditions, Motion planning problems, Non holonomic constraint, Snake-like robot, Three links, Robot programming