Name
Abstract | ||
|---|---|---|
A control method that makes the head of a snake robot follow an arbitrary trajectory on two non-parallel planes, including coexisting sloped and flat planes, is presented. We clarify an appropriate condition of contact between the robot and planes and design a controller for the part of the robot connecting the two planes that satisfies the contact condition. Assuming that the contact condition is satisfied, we derive a simplified model of the robot and design a controller for trajectory tracking of the robot's head. The controller uses kinematic redundancy to avoid violating the limit of the joint angle and a collision between the robot and the edge of a plane. The effectiveness of the proposed method is demonstrated in experiments using an actual robot. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1080/01691864.2018.1458653 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
Snake robot,slope,redundancy,trajectory tracking | Control theory,Kinematic redundancy,Motion control,Control theory,Collision,Redundancy (engineering),Engineering,Robot,Trajectory | Journal |
Volume | Issue | ISSN |
32.0 | 10 | 0169-1864 |
Citations | PageRank | References |
1 | 0.36 | 17 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mizuki Nakajima | 1 | 3 | 3.25 |
| Motoyasu Tanaka | 2 | 180 | 25.20 |
| Kazuo Tanaka | 3 | 408 | 40.44 |
| Fumitoshi Matsuno | 4 | 848 | 143.77 |