2000年
Redundancy controllable system and control of snake robots based on kinematic model
PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5
- ,
- 巻
- 5
- 号
- 開始ページ
- 4791
- 終了ページ
- 4796
- 記述言語
- 英語
- 掲載種別
- 出版者・発行元
- IEEE
We define the redundancy controllable system of hyper-redundant mechanical systems. We derive the condition that the hyper-redundant snake robots become redundancy controllable, and the control law with considering the redundancy. We also propose a concept of a unit and the system design strategy of the snake robots. Simulation results are shown.
- リンク情報
- ID情報
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- ISSN : 0191-2216
- Web of Science ID : WOS:000172029000870