View source for Nonholonomic Mechanics and Locomotion: The Snakeboard Example

{{HTDB paper
| authors = Andrew D. Lewis, Richard M. Murray, James P. Ostrowski, Joel W. Burdick
| title = Nonholonomic Mechanics and Locomotion: The Snakeboard Example
| source = 1994 International Conference on Robotics and Automation
| year = 1993
| type = Conference paper
| funding = 
| url = http://www.cds.caltech.edu/~murray/preprints/lomb94-icra.pdf
| abstract = 
Analysis and simulations are performed for a simplified model of a
commercially available variant on the skateboard, known as the Snakeboard.
Although the model
exhibits basic gait patterns seen in a large number of locomotion problems,
the analysis tools currently available do not apply to this problem. The
difficulty is seen to lie primarily in the way in which the nonholonomic
constraints enter into the system. As a first step towards understanding
systems represented by our model we present the equations of motion and
perform some controllability analysis for the snakeboard. We also perform
some numerical simulations of the gait patterns.

| flags = NoRequest
| tag = lomb94-icra
| id = 1993j
}}