Cart (Loading....) | Create Account
Close category search window
 

Trajectory Tracking Control of Snake Robots Based on Dynamic Model

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Matsuno, F. ; University of Electro-Communications 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan Email: matsuno@hi.mce.uec.ac.jp ; Sato, H.

In this paper, we derive a dynamic model and a trajectory tracking control law for snake robots, which have passive wheels and active joints, based on the dynamic model. For a trajectory tracking control of snake robots, it is one of the important problem to avoid the singular configuration like a straight line. Using input-ouput linearization for the head position of snake robots based on dynamic model, we can control the head position by PD feedback, but the robot will converge to the singular configuration. In order to solve this problem, we propose a control law that controls shape controllable points for avoiding the singular configuration. Using the proposed control law, the robot can accomplish trajectory tracking of the head position without converging to the singular configuration. Simulation results show the effectiveness of the proposed control law.

Published in:

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Date of Conference:

18-22 April 2005

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.