Oscillations, SE(2)-snakes and motion control: A study of the Roller Racer

DOI10.1080/14689360110090424MaRDI QIDQ4444077zbMATH OpenOpenAlexFDO

Authors P. S. Krishnaprasad, Dimitris P. Tsakiris

Publication date 25 February 2004

Published in Dynamical Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/14689360110090424

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Lagrange's equations (70H03) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A General Theorem on Local Controllability
• Adaptive control of linearizable systems
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• Geometric phases and robotic locomotion
• Hexapodal gaits and coupled nonlinear oscillator models
• scientific article; zbMATH DE number 3118900 (Why is no real title available?)
• scientific article; zbMATH DE number 3755513 (Why is no real title available?)
• scientific article; zbMATH DE number 3601149 (Why is no real title available?)
• scientific article; zbMATH DE number 822362 (Why is no real title available?)
• Lie Brackets and Local Controllability: A Sufficient Condition for Scalar-Input Systems
• Nonholonomic mechanical systems with symmetry
• On dynamic feedback linearization
• On the Stabilization in Finite Time of Locally Controllable Systems by Means of Continuous Time-Varying Feedback Law
• Oscillations, SE(2)-snakes and motion control: A study of the Roller Racer
• The energy-momentum method for the stability of non-holonomic systems

Cited in

(30)

• Controllability of invariant systems on Lie groups and homogeneous spaces.
• The inertial motion of a \textit{roller racer}
• Exotic dynamics of nonholonomic roller racer with periodic control
• Symmetries in the wheeled inverted pendulum mechanism
• The Chaplygin sleigh with parametric excitation: chaotic dynamics and nonholonomic acceleration
• A particular integrable case in the nonautonomous problem of a Chaplygin sphere rolling on a vibrating plane
• A jet bundle approach to the variational structure of nonholonomic mechanical systems
• Dynamics of a Chaplygin sleigh with an unbalanced rotor: regular and chaotic motions
• The wheeled three-link snake model: singularities in nonholonomic constraints and stick-slip hybrid dynamics induced by Coulomb friction
• Qualitative analysis of the nonholonomic rolling of a rubber wheel with sharp edges
• Peristaltic wave locomotion and shape morphing with a millipede inspired system
• Analysis of underactuated dynamic locomotion systems using perturbation expansion: the twistcar toy example
• On partial contraction analysis for coupled nonlinear oscillators
• Trajectory design for mechanical control systems: from geometry to algorithms
• On the Hadamard-Hamel problem and the dynamics of wheeled vehicles
• Hamilton-Jacobi theory for degenerate Lagrangian systems with holonomic and nonholonomic constraints
• Qualitative analysis of the dynamics of a trailed wheeled vehicle with periodic excitation
• Quasi-coordinates based dynamics modeling and control design for nonholonomic systems
• Oscillations, SE(2)-snakes and motion control: A study of the Roller Racer
• A geometric approach to the transpositional relations in dynamics of nonholonomic mechanical systems.
• Normal forms and averaging in an acceleration problem in nonholonomic mechanics
• Fermi-like acceleration and power-law energy growth in nonholonomic systems
• A Nonholonomic Model and Complete Controllability of a Three-Link Wheeled Snake Robot
• The role of connection in the nonlinear behavior of locomotion systems with symmetry
• The problem of acceleration in the dynamics of a double-link wheeled vehicle with arbitrarily directed periodic excitation
• Roller racer with varying gyrostatic momentum: acceleration criterion and strange attractors
• A study of the long-term behavior of hybrid systems with symmetries via reduction and the Frobenius-Perron operator
• Theoretical and experimental investigations of the controlled motion of a roller racer
• Controlled motion of a wheeled three-link vehicle: theory and experiment
• Stabilizability and motion tracking conditions for mechanical nonholonomic control systems

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