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Updated: May 30, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System
Published on: October 1, 2019
On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion
Alireza Asnafi1, Mojtaba Mahzoon
1Hydro-Aeronautical Research Center, Shiraz University, Shiraz, Iran. asnafi@shirazu.ac.ir
Abstract:
Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.
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