2018年
Motion control of a snake robot moving between two non-parallel planes
ADVANCED ROBOTICS
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- ,
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- 巻
- 32
- 号
- 10
- 開始ページ
- 559
- 終了ページ
- 573
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1080/01691864.2018.1458653
- 出版者・発行元
- TAYLOR & FRANCIS LTD
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.
- リンク情報
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- DOI
- https://doi.org/10.1080/01691864.2018.1458653
- DBLP
- https://dblp.uni-trier.de/rec/journals/ar/NakajimaTTM18
- Web of Science
- https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000435007400003&DestApp=WOS_CPL
- URL
- https://www.wikidata.org/entity/Q58028094
- Dblp Url
- https://dblp.uni-trier.de/db/journals/ar/ar32.html#NakajimaTTM18
- ID情報
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- DOI : 10.1080/01691864.2018.1458653
- ISSN : 0169-1864
- eISSN : 1568-5535
- DBLP ID : journals/ar/NakajimaTTM18
- Web of Science ID : WOS:000435007400003