Feedback Control of a Redundant Wheeled Snake Mechanism Using Transverse Functions on SO(4)

@inproceedings{Morin2012FeedbackCO,
  title={Feedback Control of a Redundant Wheeled Snake Mechanism Using Transverse Functions on SO(4)},
  author={Pascal Morin and Claude Samson},
  booktitle={SyRoCo},
  year={2012}
}
Abstract The Transverse Function (TF) approach is applied to the control of a nonholonomic three-segments/snake-like wheeled mechanism, similar to the planar low-dimensional version of Hirose's Active Cord Mechanism (ACM) previously studied by the authors with the same control approach, but with two additional internal degrees of freedom (d.o.f.) whose actuation yields more flexible and efficient control solutions. From a theoretical point of view, these complementary d.o.f. modify the Control… 
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