Motion Planning of Piezoelectrically Driven Micro-Robots Via Navigation Functions

In this paper we present a closed loop switching control methodology applicable to piezoelectrically driven micro-robots whose locomotion principle is based on the stick slip effect. The derived controller has theoretically guaranteed global convergence and collision avoidance properties. The effect...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Loizou, S.G., Kyriakopoulos, K.J.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Collision avoidance Control systems Hardware Legged locomotion Machine learning Motion control Navigation Prototypes Robot kinematics
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