2007年
Control of a snake-like robot using the screw drive mechanism
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10
- ,
- ,
- ,
- ,
- ,
- 開始ページ
- 3883
- 終了ページ
- +
- 記述言語
- 英語
- 掲載種別
- DOI
- 10.1109/ROBOT.2007.364074
- 出版者・発行元
- IEEE
In this paper, we develop a prototype of a new snake-like robot using the screw drive mechanism, and design a control system design for trajectory tracking. First, we explain the outline of the snake-like robot using the screw drive units and joint units, as well as the principle of the screw drive mechanism. Next, in order to achieve the trajectory tracking of the robot, we derive a kinematic model. Finally, the validity of the derived model and the effectiveness of the proposed control system are demonstrated by simulations and experiments.
- リンク情報
- ID情報
-
- DOI : 10.1109/ROBOT.2007.364074
- ISSN : 1050-4729
- Web of Science ID : WOS:000250915303146