机译:基于运动学的连续平面蛇形机器人分析与航向控制及其一般求解
Univ Electrocommun, Dept Mech Engn & Intelligent Syst, 1-5-1 Chofugaoka, Chofu, Tokyo 182, Japan;
Kyoto Univ, Dept Mech Engn & Sci, Nishikyo Ku, Kyoto, Japan;
singularity avoidance; continuum approximation; kinematic model; heading control; Snake robots;