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Gaits Control for Skating Motion with Nonholonomic Constraint  

Hwang, Chang-Soon (School of Mechanical Engineering, Kyungpook National Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.6, 2009 , pp. 59-67 More about this Journal
Abstract
This paper addresses the control method for skating motion with a nonholonomic constraint. In order to generate a human-like skating motion, the behaviors of motion are distinctively analyzed into transient state and steady state. A close investigation of the behaviors evolved the characteristic of successive motions with transient state and steady state. Simulation results were intuitively comprehensible, and the effectiveness of control method was demonstrated for skating motion.
Keywords
Hybrid Mobile Robot; Glide Locomotion; Skating Motion; Undulatory Locomotion; Nonholonomic Constraint;
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Times Cited By KSCI : 1  (Citation Analysis)
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