Pascal Morin, Claude Samson. Feedback Control of a Redundant Wheeled Snake Mechanism Using Transverse Functions on SO(4). In Ivan Petrovic, Peter Korondi, editors, 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, September 5-7, 2012. pages 178-185, International Federation of Automatic Control, 2012. [doi]
Abstract is missing.