Motion planning for redundant multi-bodied planar kinematic snake robots

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dc.contributor.authorItani, Omar
dc.contributor.authorShammas, Elie A.
dc.contributor.departmentDepartment of Mechanical Engineering
dc.contributor.facultyMaroun Semaan Faculty of Engineering and Architecture (MSFEA)
dc.contributor.institutionAmerican University of Beirut
dc.date.accessioned2025-01-24T11:33:06Z
dc.date.available2025-01-24T11:33:06Z
dc.date.issued2021
dc.description.abstractIn 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.
dc.identifier.doihttps://doi.org/10.1007/s11071-021-06515-y
dc.identifier.eid2-s2.0-85105994348
dc.identifier.urihttp://hdl.handle.net/10938/27930
dc.language.isoen
dc.publisherSpringer Science and Business Media B.V.
dc.relation.ispartofNonlinear Dynamics
dc.sourceScopus
dc.subjectGait generation
dc.subjectNonholonomic motion planning
dc.subjectOver-constrained systems
dc.subjectPlanar hyper-redundant robots
dc.subjectSnake robots
dc.subjectMotion planning
dc.subjectRobots
dc.subjectBody frames
dc.subjectInitial conditions
dc.subjectMotion planning problems
dc.subjectNon holonomic constraint
dc.subjectSnake-like robot
dc.subjectThree links
dc.subjectRobot programming
dc.titleMotion planning for redundant multi-bodied planar kinematic snake robots
dc.typeArticle

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