Scheduled System Maintenance
On Saturday, October 21, single article sales and account management will be unavailable until 6 PM ET.
Notice: There is currently an issue with the citation download feature. Learn more.

An Analytic Motion Planning Solution for the Snakeboard

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
3 Author(s)

This paper provides a closed-form analytical solution to the motion planning problem for the Snakeboard. Given a desired planar trajectory in the fiber space, an explicit solution is computed for the gaits in the base space that locomote the Snakeboard along the desired trajectory. This is achieved by introducing a new momentum-like variable that simplifies the Snakeboard's equations of motion to allow for such an explicit gait generation technique.