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• W2206948670 abstract "This paper presents the steering control algorithm of a locomotion robot using a quaternion. The locomotion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using MATLAB ® and VisualNastran4D ® ." @default.
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• W2206948670 date "2005-06-01" @default.
• W2206948670 modified "2023-09-28" @default.
• W2206948670 title "Steering Control Algorithm of a Locomotion Robot Using a Quaternion with Spherical Cubic Interpolation (ICCAS 2005)" @default.
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