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- W2148521036 abstract "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 information, leading to a more intuitive solution compared to prior work. The simple forms of the solution clearly show how they depend on local curvature and desired velocity profile, allowing for a description of some simple motion primitives. We readily propose techniques to navigate paths, including those with sharp corners, by taking advantage of the snake-board’s singular configuration, as well as discuss some implications of torque limits." @default.
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- W2148521036 date "2013-10-21" @default.
- W2148521036 modified "2023-10-16" @default.
- W2148521036 title "Snakeboard Motion Planning With Local Trajectory Information" @default.
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- W2148521036 doi "https://doi.org/10.1115/dscc2013-3883" @default.
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