Locomotion of a multi-link non-holonomic snake robot with passive joints

Tony Dear, Blake Buchanan, Rodrigo Abrajan-Guerrero, Scott David Kelly, Matthew J. Travers, Howie Choset

Abstract: Conventional approaches in prescribing controls for locomoting robots assume control over all input degrees of freedom (DOFs). Many robots, such as those with non-holonomic constraints, may not req...