Minimum control-switch motions for the snakeboard: A case study in kinematically controllable underactuated systems

TitleMinimum control-switch motions for the snakeboard: A case study in kinematically controllable underactuated systems
Publication TypeJournal Article
Year of Publication2004
AuthorsIannitti, S., and K. M. Lynch
JournalRobotics, IEEE Transactions on
Volume20
Pages994–1006