Inverse kinematics-based motion planning for underactuated systems

Prasun Choudhury*, Benjamin Stephens, Kevin M. Lynch

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations


We study the problem of generating motion plans for kinematically controllable underactuated systems in environments cluttered with obstacles. We develop a computationally efficient motion planning algorithm that finds fast trajectories by exploiting closed-form inverse kinematics of the robot. The completeness property of the motion planning algorithm can be proven using appropriate metrics defined in the configuration space of the kinematically controllable systems. The snakeboard is used as an example of a kinematically controllable underactuated system to test the motion planning algorithm, and motion plans have been implemented on an experimental snakeboard.

Original languageEnglish (US)
Pages (from-to)2242-2248
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number3
StatePublished - 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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