A distributed model predictive control (D-MPC) for modular robots in chain configuration

Cortés, Felipe Ignacio Arreguín; Linares, Diego; Patino, Diego; Melo, Kamilo

doi:10.1109/larc.2011.6086843

Cited by 7 publications

(1 citation statement)

References 12 publications

(14 reference statements)

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“…Since these conditions can be represented as inequality constraints as well, MPC-based approach is a possible systematic tools for step climbing of the snake robot. MPC-based approaches for the snake robot can be found in a few literatures, such as individual joint control [40] and swimming motion generation [41]. However, to our best knowledge, there are no literatures related to MPC-based approach in 3-D environments such as step climbing because of its complexity of the model.…”

Section: Introductionmentioning

confidence: 99%

Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy

Kon

Tanaka

2016

IEEE Trans. Contr. Syst. Technol.

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We propose a control method for semiautonomous step climbing by a snake robot. Our method is based on mixed integer quadratic programming to generate the reference trajectory of the head of the snake robot online. One of the features of the method is that it determines suitable positions and time duration in which to sense the surroundings before approaching the step. Furthermore, constraints on velocity and acceleration are taken into account, so that the snake robot can securely follow the generated trajectory. Our method was applied to a snake robot equipped with a laser range finder, which is used for step detection. Experiments were performed to verify the efficacy of the method.Index Terms-Mixed integer programming (MIP), sensing strategy, snake robot, step climbing, trajectory generation. 1063-6536

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Section: Introductionmentioning

confidence: 99%