https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Nonholonomic_Mechanics_and_Locomotion%3A_The_Snakeboard_Example 2026-09-08T21:39:28Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Nonholonomic_Mechanics_and_Locomotion:_The_Snakeboard_Example&diff=20065&oldid=prev 2016-05-15T06:20:54Z

<p>htdb2wiki: creating page for 1993j_lomb94-icra.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Andrew D. Lewis, Richard M. Murray, James P. Ostrowski, Joel W. Burdick<br /> | title = Nonholonomic Mechanics and Locomotion: The Snakeboard Example<br /> | source = 1994 International Conference on Robotics and Automation<br /> | year = 1993<br /> | type = Conference paper<br /> | funding = <br /> | url = http://www.cds.caltech.edu/~murray/preprints/lomb94-icra.pdf<br /> | abstract = <br /> Analysis and simulations are performed for a simplified model of a<br /> commercially available variant on the skateboard, known as the Snakeboard.<br /> Although the model<br /> exhibits basic gait patterns seen in a large number of locomotion problems,<br /> the analysis tools currently available do not apply to this problem. The<br /> difficulty is seen to lie primarily in the way in which the nonholonomic<br /> constraints enter into the system. As a first step towards understanding<br /> systems represented by our model we present the equations of motion and<br /> perform some controllability analysis for the snakeboard. We also perform<br /> some numerical simulations of the gait patterns.<br /> <br /> | flags = NoRequest<br /> | tag = lomb94-icra<br /> | id = 1993j<br /> }}</div>

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