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Title: Motion planning of piezoelectrically driven micro-robots via navigation functions
Authors: Kyriakopoulos, Kostas J.
Loizou, Savvas 
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.
ISBN: 0780389360
DOI: 10.1109/.2005.1467121
Rights: © 2005 IEEE
Type: Book Chapter
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

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