We study a model for snake-like robots based on the Fibonacci sequence. The present paper includes an investigation of the reachable workspace, a more general analysis of the control system underlying the model, its reachability and local controllability properties. In addition, we establish some fractal properties of the reachable workspace by means the theory of iterated function systems.
A Fibonacci control system with application to hyper-redundant manipulators / Lai, ANNA CHIARA; Loreti, Paola; Vellucci, Pierluigi. - In: MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS. - ISSN 0932-4194. - 28:2(2016), pp. 1-32. [10.1007/s00498-016-0167-4]
A Fibonacci control system with application to hyper-redundant manipulators
LAI, ANNA CHIARA;LORETI, Paola;VELLUCCI, PIERLUIGI
2016
Abstract
We study a model for snake-like robots based on the Fibonacci sequence. The present paper includes an investigation of the reachable workspace, a more general analysis of the control system underlying the model, its reachability and local controllability properties. In addition, we establish some fractal properties of the reachable workspace by means the theory of iterated function systems.| File | Dimensione | Formato | |
|---|---|---|---|
|
Lai_Fibonacci_2016.pdf
accesso aperto
Tipologia:
Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza:
Tutti i diritti riservati (All rights reserved)
Dimensione
737.62 kB
Formato
Adobe PDF
|
737.62 kB | Adobe PDF |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
