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|Title:||Motion planning of piezoelectrically driven micro-robots via navigation functions||Authors:||Kyriakopoulos, Kostas J.
|Keywords:||Computer simulation;Navigation;Robots;Hardware||Issue Date:||2005||Publisher:||IEEE||Source:||Proceedings of the 20th IEEE International Symposium on Intelligent Control ISIC and the 13th Mediterranean Conference on Control and Automation MED, 2005, Pages 826-831||Abstract:||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 effectiveness of the proposed methodology is verified through hardware experiments and computer simulations.||URI:||http://ktisis.cut.ac.cy/handle/10488/7811||ISBN:||0780389360||DOI:||10.1109/.2005.1467121||Rights:||© 2005 IEEE||Type:||Book Chapter|
|Appears in Collections:||Κεφάλαια βιβλίων/Book chapters|
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