Paper Info
Title
Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints.
Abstract
This paper investigates the problem of maneuvering control for planar snake robots. The control objective is to make the center of mass of the snake robot converge to a desired path and traverse the path with a desired velocity. The proposed feedback control strategy enforces virtual constraints encoding a lateral undulatory gait, parametrized by the states of dynamic compensators used to regulate the orientation and forward speed of the snake robot.
Year
DOI
Venue
2016
10.1109/TCST.2015.2467208
IEEE Trans. Contr. Sys. Techn.
Keywords
Field
DocType
Joints,Friction,Robot kinematics,Mobile robots,Kinematics,Control design
Robot control,Holonomic constraints,Control theory,Robot kinematics,Snake-arm robot,Control engineering,Robot locomotion,Robot,Mobile robot,Mathematics,Traverse
Journal
Volume
Issue
ISSN
24
3
1063-6536
Citations 
PageRank 
References 
13
0.66
22
Authors
4
Name
Order
Citations
PageRank
Alireza Mohammadi1213.84
Ehsan Rezapour2212.29
Manfredi Maggiore3172.19
Kristin Ytterstad Pettersen440242.59