Paper Info
Title
Body shape and orientation control for locomotion of biologically-inspired snake robots
Abstract
This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic feedback control law for the joints of the robot to track a desired gait pattern. This tracking control law depends on the time evolution of the state variables of a dynamic compensator which is used for controlling the orientation of the robot. In particular, we employ the dynamic compensator to practically stabilize a reference head angle defined by a Line-of-Sight path following guidance law. Using an input-output stability analysis, we show the uniform boundedness of the solutions of the controlled system. Furthermore, we use a perturbation analysis to show that the orientation error is ultimately bounded by an arbitrarily small bound. Simulation results are presented to validate the theoretical results.
Year
DOI
Venue
2014
10.1109/BIOROB.2014.6913910
BioRob
Keywords
DocType
ISSN
biomimetics,mobile robots,motion control,euler-lagrange equations,biologically-inspired snake robots,body shape,dynamic compensator,dynamic feedback control law,gait pattern,guidance-based motion control,input-output stability analysis,line-of-sight path following guidance law,locomotion,orientation control,orientation error,perturbation analysis,planar snake robots,reference head angle,tracking control law,vectors,friction
Conference
2155-1774
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Ehsan Rezapour161.22
Kristin Ytterstad Pettersen233433.32
Jan Tommy Gravdahl312120.61
Pål Liljebäck451.18