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Motion planning for redundant multi-bodied planar kinematic snake robots

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A Correction to this article was published on 26 July 2021

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Abstract

In this paper, the motion planning problem for planar snake-like robots with more than three links that is subjected to nonholonomic constraints is solved explicitly. In other words, for a given desired planar trajectory and a set of initial conditions of the snake, a unique feasible gait is generated to ensure that the origin of the snake robot’s body frame traverses that path. Additionally, the generated gait ensures that all the nonholonomic constraints are satisfied for all time.

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Acknowledgements

This work was supported by the University Research Board at the American University of Beirut and the Munib and Angela Masri Institute of Energy and Natural Resources at the American University of Beirut.

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  1. Vision and Robotics Lab, Department of Mechanical Engineering, American University of Beirut, Beirut, Lebanon

    Omar Itani & Elie Shammas

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  1. Omar Itani
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  2. Elie Shammas
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Correspondence to Elie Shammas.

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Itani, O., Shammas, E. Motion planning for redundant multi-bodied planar kinematic snake robots. Nonlinear Dyn 104, 3845–3860 (2021). https://doi.org/10.1007/s11071-021-06515-y

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