A Lagrangian Dynamic Model for Soft Cylindrical Robots Without Internal Holonomic Constraint.
Christian Alejandro Trejo-RamosErnesto Olguín DíazVicente Parra-VegaCarlos-Ernesto Vázquez-GarcíaPublished in: LARS/SBR/WRE (2021)
Keyphrases
- dynamic model
- mobile robot
- formation control
- experimental data
- motion planning
- hard constraints
- multi robot
- control scheme
- robotic systems
- humanoid robot
- autonomous robots
- parallel manipulator
- collision free
- shear stress
- soft constraints
- physical constraints
- multi robot systems
- path planning
- parameter estimates
- controller design
- collision avoidance
- robot control
- unscented kalman filter
- trajectory tracking