Name
Title | ||
|---|---|---|
Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy |
Abstract | ||
|---|---|---|
We propose a control method for semiautonomous step climbing by a snake robot. Our method is based on mixed integer quadratic programming to generate the reference trajectory of the head of the snake robot online. One of the features of the method is that it determines suitable positions and time duration in which to sense the surroundings before approaching the step. Furthermore, constraints on velocity and acceleration are taken into account, so that the snake robot can securely follow the generated trajectory. Our method was applied to a snake robot equipped with a laser range finder, which is used for step detection. Experiments were performed to verify the efficacy of the method. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/TCST.2015.2429615 | Control Systems Technology, IEEE Transactions |
Keywords | Field | DocType |
Trajectory,Robot sensing systems,Mobile robots,Collision avoidance,Joints | Control theory,Control engineering,Snake-arm robot,Step detection,Integer programming,Artificial intelligence,Trajectory,Computer vision,Robot control,Acceleration,Robot,Mathematics,Mobile robot | Journal |
Volume | Issue | ISSN |
PP | 99 | 1063-6536 |
Citations | PageRank | References |
5 | 0.43 | 29 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kazuyuki Kon | 1 | 5 | 0.43 |
| Motoyasu Tanaka | 2 | 180 | 25.20 |
| Kazuo Tanaka | 3 | 408 | 40.44 |