Robotics: Science and Systems VII

An Analytic Motion Planning Solution for the Snakeboard

Elie Shammas, Mauricio de Oliveira


This paper provides a closed-form analytical solution to the motion planning problem for the Snakeboard. Given a desired planar trajectory in the fiber space, an explicit solution is computed for the gaits in the base space that locomote the Snakeboard along the desired trajectory. This is achieved by introducing a new momentum-like variable that simplifies the Snakeboard's equations of motion to allow for such an explicit gait generation technique.



    AUTHOR    = {Elie Shammas AND Mauricio de Oliveira}, 
    TITLE     = {An Analytic Motion Planning Solution for the Snakeboard}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2011}, 
    ADDRESS   = {Los Angeles, CA, USA}, 
    MONTH     = {June},
    DOI       = {10.15607/RSS.2011.VII.038}