Abstract: The Chaplygin sleigh is a canonical problem of mechanical systems with nonholonomic constraints. Such constraints often arise due to the role of a no-slip requirement imposed by friction. In the case of the Chaplygin sleigh, ...

Abstract: The control of the motion of nonholonomic systems is of practical importance from the perspective of robotics. In this paper, we consider the dynamics of a cartlike system that is both propelled forward by motion of an ...

Abstract: Compliant mechanisms have been studied extensively as an alternative to traditional rigid body design with advantages like part number reduction, compliance, and multistable configurations. Most of the past research on ...