scientific article; zbMATH DE number 1069608
We discuss motion planning for mobile robots on factory floors (or on the surface of Mars), and control of highly articulated robots -- such as multifingered robot hands and robot ``snakes -- for medical inspection and manipulation inside the gastrointestinal trace. A common feature of these systems is the role of constraints on the behavior of the system. By studying the geometric nature of velocity constraints in a more general setting, it is possible to synthesize gaits for snake-like robots, to generate parking and docking maneuvers for automated vehicles, and to study the effects of rolling contacts on multifingered robot hands. For the entire collection see [Zbl 0868.00063].
- Geometric and numerical foundations of movements
- Base-controlled mechanical systems and geometric phases
- Motion planning for variable inertia mechanical systems
- scientific article; zbMATH DE number 1069609 (Why is no real title available?)
- scientific article; zbMATH DE number 2065641 (Why is no real title available?)
- On geometric control models of a robotic snake
- Geometric phases and robotic locomotion
- Some theory towards a stringent definition of `locomotion'
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