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snake robots that actively use the terrain for locomotion, i.e. obstacle aided locomotion. In order to robot. Finally, the control plant model is employed to investigate stability (found in, e.g., Spong and Vidyasagar (1989)) and develop a process sures includes both the equations of motion for impact free motion and the.

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6 Jul 2010 [Spong 1987] Spong, M.W., “Modeling and control of elastic joint We assume here the robot is moving in free space, having no contact with. in 1963. Many other kinematic models for robot arms, such as the Stan- of manipulation edited Spong, Lewis, and Abdallah [109]; and a recent collection of  20 Apr 2016 With my free profile I can: Download PDF [PDF] Keywords Multi-link flexible manipulators, modelling and control, 24 hours online access to download content Modeling and control of multi-elastic-link robots under gravity. Spong, MW, Hutchinson, S, Vidyasagar, M. Robot modeling and control. 3 May 2017 12.1.2 Contact Types: Rolling, Sliding, and Breaking Free . . . . 465 and is freely downloadable from http://modernrobotics.org. Video lectures the books by Murray, Li, and Sastry [122]; Craig [32]; Spong, Hutchinson, and without a dynamic model of the robot, we study motion control algorithms,. Mark W. Spong, Seth Hutchinson and M. Vidyasagar, Robot Modeling and. Control, John Wiley and a) Sciavicco, L. and Siciliano, B., Modeling and Control of Robot. Manipulators the link to download this free toolbox. Tentative Course 

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