@inproceedings{f6028c78921e41e18f1bda347f2610ea,
title = "Semi-optimal motion control for nonholonomic systems with a passive joint",
abstract = "This paper addresses optimal motion control for nonholonomic systems with a passive joint. We propose a motion-planning method that combines a rapid semi-optimal motion-planning method (RASMO) and an output-zeroing method. First, a semi-optimal motion is calculated using RASMO, following which the motion is converted to a flow in a phase space using the output-zeroing method. To validate the proposed method, we conducted a throwing experiment using a two-link arm. As a result of the experiment, planned semi-optimal motion was realized precisely in the nonholo-nomic system. Using this approach, we have enhanced the applicability of RASMO to nonholonomic systems with a passive joint.",
keywords = "Nonholonomic system, Optimal Motion, RASMO, Robot, Throwing",
author = "Kim, {Chyon Hae} and Keisuke Nakamura and Hiroshi Tsujino and Shigeki Sugano",
year = "2011",
month = jan,
day = "1",
language = "English",
isbn = "9784907764395",
series = "Proceedings of the SICE Annual Conference",
publisher = "Society of Instrument and Control Engineers (SICE)",
pages = "1075--1080",
booktitle = "SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts",
note = "50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 ; Conference date: 13-09-2011 Through 18-09-2011",
}