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Control of redundant snake robot based on kinematic model

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2 Author(s)
Matsuno, F. ; Dept. of Computational Intelligence & Syst. Sci., Tokyo Inst. of Technol., Japan ; Suenaga, K.

We define the redundancy controllable system of hyper-redundant systems. We derive the condition that the hyper-redundant snake robots become redundancy controllable, and the control law considering the redundancy. We propose the control strategy for the singular configuration avoidance and the obstacle avoidance of the snake robots. Simulation results are shown.

Published in:

SICE 2002. Proceedings of the 41st SICE Annual Conference  (Volume:3 )

Date of Conference:

5-7 Aug. 2002