| contributor author | Shammas, Elie | |
| contributor author | Asmar, Daniel | |
| date accessioned | 2017-05-09T01:15:47Z | |
| date available | 2017-05-09T01:15:47Z | |
| date issued | 2015 | |
| identifier issn | 1555-1415 | |
| identifier other | cnd_010_05_051002.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/157313 | |
| description abstract | In this paper, we solve the motion planning problem for a class of underactuated multibodied planar mechanical systems. These systems interact with the environment via viscous frictional forces. The motion planning problem is solved by specifying the location of friction pads on the robot as well as by specifying the input of the actuated degrees of freedom. Moreover, through the proposed novel motion planning analysis, we identify the simplest planar swimming robot, the twolink swimmer. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Motion Planning for an Underactuated Planar Robot in a Viscous Environment | |
| type | Journal Paper | |
| journal volume | 10 | |
| journal issue | 5 | |
| journal title | Journal of Computational and Nonlinear Dynamics | |
| identifier doi | 10.1115/1.4029509 | |
| journal fristpage | 51002 | |
| journal lastpage | 51002 | |
| identifier eissn | 1555-1423 | |
| tree | Journal of Computational and Nonlinear Dynamics:;2015:;volume( 010 ):;issue: 005 | |
| contenttype | Fulltext | |
