Title: Nonholonomic Mechanics and Locomotion: The Snakeboard Example
Authors: Jim Ostrowski, Andrew Lewis, Richard Murray, Joel Burdick
In : Proc. IEEE Int. Conf. on Robotics and Automation, 1994.
ABSTRACT:
Analysis and simulations are performed for a simplified model of a
commercially available variant of the skateboard, known as the Snakeboard.
Although the model exhibits basic gait patterns seen in a large number of
locomotion problems, the analysis tools currently available do not apply to
this problem. The difficulty lies primarily in the way in which the
nonholonomic constraints enter into the system. As a first step towards
understanding systems represented by our model we present the equations of
motion and perform some controllability analysis for the snakeboard. We also
perform numerical simulations of possible gait patterns which are
characteristic of snakeboard locomotion.
KEYWORDS: Nonholonomic Mechanics, Locomotion, Snakeboard