Name
Abstract | ||
|---|---|---|
In this paper we extend a non-smooth 3D mathematical model of a make robot to also include external obstacles to enable obstacle aided locomotion. The model is based on the framework of non-smooth dynamics and convex analysis. This framework enables us to systematically and easily incorporate unilateral contact forces (from the obstacles and the ground) and isotropic friction forces based on Coulomb's law. The obstacles are shaped as vertical cylinders and we describe the contact between a link of the snake robot and an obstacle with a single, moving contact point. Hence, the effect of the link touching the obstacle is accurately described. Simulation results for a 11 link snake robot moving by the serpentine motion pattern 'lateral undulation' while pushing against obstacles are given. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ROBIO.2006.340097 | 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 |
Keywords | Field | DocType |
non-smooth dynamics, contact modeling | Obstacle,Motion control,Control theory,Unilateral contact,Snake-arm robot,Control engineering,Coulomb's law,Engineering,Robot,3D modeling,Mobile robot | Conference |
Citations | PageRank | References |
6 | 0.96 | 6 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Aksel Andreas Transeth | 1 | 62 | 7.17 |
| Remco I. Leine | 2 | 37 | 5.27 |
| Christoph Glocker | 3 | 28 | 4.64 |
| Kristin Ytterstad Pettersen | 4 | 402 | 42.59 |