Paper Info
Title
Stability analysis of snake robot locomotion based on averaging theory
Abstract
This paper investigates the controllability and stability properties of a planar snake robot influenced by anisotropic viscous ground friction. An analysis of the model shows that any asymptotically stabilizing control law for the robot to an equilibrium point must be time-varying. Furthermore, the analysis shows that the snake robot (with four links) is strongly accessible from almost any equilibrium point, except for certain singular configurations, and that the robot does not satisfy sufficient conditions for small-time local controllability (STLC). Averaging theory is employed to model the average velocity of the snake robot during lateral undulation. It is proven that the average velocity will converge exponentially fast to a steady state velocity, and an analytical expression for calculating the steady state velocity of the robot with an arbitrary number of links is presented. The paper presents simulation results that support the theoretical findings.
Year
DOI
Venue
2010
10.1109/CDC.2010.5717822
Decision and Control
Keywords
Field
DocType
asymptotic stability,mobile robots,time-varying systems,anisotropic viscous ground friction,asymptotically stabilizing control law,average velocity,averaging theory,equilibrium point,lateral undulation,planar snake robot,small-time local controllability,snake robot locomotion,steady state velocity,time-varying system
Controllability,Computer science,Control theory,Robot kinematics,Equilibrium point,Robot locomotion,Exponential stability,Steady state,Robot,Mobile robot
Conference
ISSN
ISBN
Citations 
0743-1546
978-1-4244-7745-6
6
PageRank 
References 
Authors
0.62
6
4
Name
Order
Citations
PageRank
Pål Liljebäck124021.84
Kristin Ytterstad Pettersen240242.59
Øyvind Stavdahl312515.09
Jan Tommy Gravdahl432743.60