A physical parameter-based skidding model for the snakeboard

  title={A physical parameter-based skidding model for the snakeboard},
  author={Hadi Salman and Tony Dear and Sevag Babikian and Elie A. Shammas and Howie Choset},
  journal={2016 IEEE 55th Conference on Decision and Control (CDC)},
The physical violation of a nonholonomic system's idealized constraints in the form of skidding has recently elucidated interest in new models in order to directly incorporate the phenomenon into the system dynamics. However, such models either are too simple to capture physical attributes or have otherwise been tested only on systems with simple behaviors, such as the rolling disk. In this work, we present a novel skidding model, based on physical parameters, for a snakeboard system, which is… 
Nonholonomic Dynamics of the Twistcar Vehicle: Asymptotic Analysis and Hybrid Dynamics of Frictional Skidding
The Twistcar vehicle is a classic example of a nonholonomic dynamical system. The vehicle model consists of two rigid links connected by an actuated rotary joint and supported by wheeled axles,
The wheeled three-link snake model: singularities in nonholonomic constraints and stick–slip hybrid dynamics induced by Coulomb friction
The wheeled three-link snake model is a well-known example of an underactuated robotic system whose motion can be kinematically controlled by periodic changes of its internal shape, coupled with
Mechanism and Control of a One-Actuator Mobile Robot Incorporating a Torque Limiter
Elements of snakeboard and two-wheeled skateboard propulsion are applied to the design and the motion capture system enables the robot to successfully reach the specified goal positions.


A novel method for modeling skidding for systems with nonholonomic constraints
In this paper, the effect of wheel skidding on the steering motion of a simple vertical rolling disk is investigated. By modifying the nonholonomic constraints, two novel dynamic models are proposed.
Snakeboard motion planning with viscous friction and skidding
This paper evaluates a previously proposed friction model as well as a novel skidding model based on the addition of Rayleigh dissipation functions, and shows how these additions change the usual behavior of gaits in the forward planning problem and incorporate the changes into the solutions of the inverse planning problem by utilizing body coordinates along with a curvature parameterization for trajectories.
Novel modeling of skidding effects on the nonholonomic motion of a vertical rolling disk
It is shown how inputs that cause a zero net change in the position of the disk under ideal, no-skidding conditions generate a non-zero motion when skidding is significant.
Towards a Unified Approach to Motion Planning for Dynamic Underactuated Mechanical Systems with Non-holonomic Constraints
This paper analyzes and generates gaits for mixed mechanical systems which are systems whose motion is simultaneously governed by both a set of non-holonomic velocity constraints and a notion of a generalized momentum being instantaneously conserved along allowable directions of motion.
Dynamic Modeling and Control of Nonholonomic Mobile Robot with Lateral Slip
  • S. N. Sidek, N. Sarkar
  • Engineering, Computer Science
    Third International Conference on Systems (icons 2008)
  • 2008
This work develops a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR) and designs a planner and a controller that allow efficient navigation of the WMR by controlling the slip.
Modeling and Analysis of Skidding and Slipping in Wheeled Mobile Robots: Control Design Perspective
This paper aims to give a general and unifying presentation on modeling of wheel mobile robots (WMRs) in the presence of wheel skidding and slipping from the perspective of control design. We present
The mechanics of undulatory locomotion: the mixed kinematic and dynamic case
Using methods from geometric mechanics, the authors use the dynamic symmetries and kinematic constraints to develop a specialized form of the dynamic equations which govern undulatory systems.
Snakeboard Motion Planning With Local Trajectory Information
We address trajectory generation for the snakeboard, a system commonly studied in the geometric mechanics community. Our approach derives a solution using body coordinates and local trajectory
Tyre Modelling for Use in Vehicle Dynamics Studies
A new way of representing tyre data obtained from measurements in pure cornering and pure braking conditions has been developed in order to further improve the Dynamic Safety of vehicles. The method
GPS-Based Tracking Control for a Car-Like Wheeled Mobile Robot With Skidding and Slipping
Many wheeled mobile robot (WMR) controllers are developed based on nonskidding and nonslipping assumptions; however, these assumptions are usually violated due to wheel tire deformation. As a result,