Discretization of a Continuous Curve
- 4 April 2008
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 24 (2), 456-461
- https://doi.org/10.1109/tro.2008.917000
Abstract
We consider the problem of approximating a finite-length continuous curve by a piecewise linear one whose segments are assumed to be connected by 2 DOF joints. We solve the problem under the assumption that the endpoints of the line segments lie on the continuous curve. Analytical expressions for the relative orientations of each pair of line segments as a function of a single rotational DOF are found. This angle can be chosen arbitrarily or used to optimize a secondary task. The motivating application for this paper is the control of a snake-like robot using gaits designed from shape primitives.Keywords
This publication has 23 references indexed in Scilit:
- A method for determination of optimal gaits with application to a snake-like serial-link structureIEEE Transactions on Automatic Control, 2005
- Path following algorithm for highly redundant manipulatorsRobotics and Autonomous Systems, 2003
- Pattern generation and the control of nonlinear systemsIEEE Transactions on Automatic Control, 2003
- An obstacle avoidance scheme for hyper-redundant manipulators-global motion planning in posture spacePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Serpentine locomotion with robotic snakesIEEE Control Systems, 2002
- An improved inverse kinematic and velocity solution for spatial hyper-redundant robotsIEEE Transactions on Robotics and Automation, 2002
- Analysis of creeping locomotion of a snake-like robotAdvanced Robotics, 2001
- Shape Control of Manipulators with Hyper Degrees of FreedomThe International Journal of Robotics Research, 1999
- The Geometric Mechanics of Undulatory Robotic LocomotionThe International Journal of Robotics Research, 1998
- Path tracking with the links of a planar hyper- redundant robotic manipulatorJournal of Robotic Systems, 1995