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• W2765166141 abstract "Abstract The contact kinematics of a robotic hoop and a pole system is obtained by using the Montana’s equations, considering the case of contact without slipping. The resulting kinematic model is completely nonholonomic. After some mild assumptions, a set of Pfaffian constraints is established. Then, a dynamic model of the system is developed by employing the Lagrange– d’Alembert formulation. This dynamic model, which represents an underactuated mechanical system, is later used to design a controller which does not need velocity measurements. The proposed method, and its robustness against model uncertainties, is validated through numeric simulations." @default.
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• W2765166141 date "2017-07-01" @default.
• W2765166141 modified "2023-09-24" @default.
• W2765166141 title "Modelling and Control of a Robotic Hula–hoop System without Velocity Measurements" @default.
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• W2765166141 doi "https://doi.org/10.1016/j.ifacol.2017.08.889" @default.
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