Paper Info
Title
Optimal mapping from a continuous 3D curve to the position and shape of a snake robot
Abstract
In this paper, motion planning of snake robots is considered. In particular, we develop a mapping from a continuous 3D curve to the position and shape of a snake robot. The snake robot's position is the x, y, z coordinates of its center of mass; its shape is defined by a series of angles representing the rotation of each joint relative the the inertial reference frame. Smooth curves are often easier to use in path planning and design of gait patterns, but snake robots are non-smooth. A mapping is therefore necessary. The mapping is optimal in the least squares sense. The optimal configuration is found by explicitly differentiating the cost function, and finding the equilibria. The method is compared to two other methods in literature, and has lower mean square error than both these other methods.
Year
DOI
Venue
2013
10.1109/ICMECH.2013.6518553
Mechatronics
Keywords
Field
DocType
least squares approximations,mobile robots,motion control,path planning,continuous 3d curve,cost function,gait patterns,inertial reference frame,least squares sense,motion planning,snake robot
Motion planning,Least squares,Inertial frame of reference,Computer vision,Motion control,Control theory,Mean squared error,Snake-arm robot,Artificial intelligence,Robot,Mobile robot,Mathematics
Conference
ISBN
Citations 
PageRank 
978-1-4673-1387-2
0
0.34
References 
Authors
6
4
Name
Order
Citations
PageRank
Christian Holden143.90
Kristin Ytterstad Pettersen233433.32
Ø. Stavdahl31088.16
Jan Tommy Gravdahl412120.61