Mechanics and Control of a Terrestrial Vehicle Exploiting a Nonholonomic Constraint for Fishlike Locomotion
Conference Paper, Proceedings of ASME Dynamic Systems and Control Conference (DSCC '13), Vol. 2, October, 2013
Abstract
We present a novel mechanical system, the “landfish,” which takes advantage of a combination of articulation and a nonholonomic constraint to exhibit fishlike locomotion. We apply geometric mechanics techniques to establish the equations of motion in terms of the system’s nonholonomic momentum and analyze the system’s equilibrium properties. Finally, we demonstrate its locomotion capabilities under several controllers, including heading and joint velocity control.
BibTeX
@conference{Dear-2013-107833,author = {T. Dear and S. D. Kelly and M. Travers and H. Choset},
title = {Mechanics and Control of a Terrestrial Vehicle Exploiting a Nonholonomic Constraint for Fishlike Locomotion},
booktitle = {Proceedings of ASME Dynamic Systems and Control Conference (DSCC '13)},
year = {2013},
month = {October},
volume = {2},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.