Analysis and Control of a Gait of Snake Robot

2014 IEEE Conference on Control Applications (CCA)

et al. 2014

Abstract-This paper considers direction following control of planar snake robots for which the equations of motion are described based on a simplified model. In particular, we aim to regulate the orientation and the forward velocity of the robot to a constant vector, while guaranteeing the boundedness of the states of the controlled system. To this end, we first stabilize a constraint manifold for the fully-actuated body shape variables of the robot. The definition of the constraint manifold is inspired by the well-known reference joint angle trajectories which induce lateral undulatory motion for snake robots. Subsequently, we reduce the dynamics of the system to the invariant constraint manifold. Furthermore, we design two dynamic compensators which control the orientation and velocity of the robot on this manifold. Using numerical analysis and a formal stability proof, we show that the solutions of the dynamic compensators remain bounded. Numerical simulations are presented to validate the theoretical design.

Section: Modellingmentioning

confidence: 80%

Section: B a Simplified Model Of The Snake Robotmentioning

confidence: 99%

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Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model

Rezapour

Hofmann

2014 IEEE Conference on Control Applications (CCA)

et al. 2014

“…The majority of previous control approaches are based on specifying directly the motion of each individual joint angle of the snake robot, which means that the overall body shape motion is controlled implicitly through the joint angles (see e.g. [3]- [5]). This approach works well during motion on flat surfaces.…”

Section: Introductionmentioning

confidence: 99%

Compliant control of the body shape of snake robots

Liljebäck

2014 IEEE International Conference on Robotics and Automation (ICRA)

Stavdahl³

et al. 2014

Abstract-This paper presents a general motion planning framework for body shape control of snake robots. We demonstrate the applicability of the framework for straight line path following control, and for implementing body shape compliance in environments with obstacles. Compliance is achieved by assigning mass-spring-damper dynamics to the shape curve defining the motion of the robot. The performance of the control strategies is illustrated with simulation results.

“…These constraints allow the control input to be specified directly in terms of the desired propulsion of the snake robot, which is employed in e.g. [2][3][4][5] for computed torque control of the position and heading of wheeled snake robots. Path following control of wheel-less (i.e.…”

Section: Introductionmentioning

confidence: 99%

Differential geometric modelling and robust path following control of snake robots using sliding mode techniques

Rezapour

2014 IEEE International Conference on Robotics and Automation (ICRA)

Liljebäck

et al. 2014

Abstract-This paper considers straight line path following control of wheel-less planar snake robots using sliding mode techniques. We first derive the Poincaré representation of the equations of motion of the robot using the techniques of differential geometry. Furthermore, we use partial feedback linearization to linearize the directly actuated part of the system dynamics. Subsequently, we propose an analytical solution to the robust path following control problem in two steps. In the first step, we use sliding mode techniques to design a robust tracking controller for the joints of the robot to track a desired gait pattern. In the second step, we stabilize an appropriately defined sliding manifold for the underactuated configuration variables of the robot, thereby guaranteeing convergence of the robot to the desired straight path. The paper presents simulation results which validate the theoretical results.