Blar i NTNU Open på forfatter "Pons Alcalá, Ignacio"
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Modelling, motion planning and control for performing feasible rolling motion of a passive disc on a frame of the Butterfly Robot
Pons Alcalá, Ignacio (Master thesis, 2020)The Butterfly robot consists of a passive disc rolling on a robot hand represented by a varying curvature frame, which has a shape of figure eight and which orientation can be controlled by DC-motor. In this way, the motion ...