Control of 3D Snake-Like Locomotive Mechanism Based on Continuum Modeling

Abstract

An effective control method that achieves movement over a small ridge as an example of three-dimensional (3D) snake-like creeping locomotion is presented. The creeping robot is modeled as a continuum with zero thickness capable of generating bending moment at arbitrary points. Under a simplified contact condition, the optimal bending moment distribution in terms of a quadratic cost function of input can be obtained as a function of curvature by solving an isoperimetric problem. The solution is well suited to an articulated body consisting of finite number of links. The model is demonstrated through simulations and experiments using a prototype robot to be effective for traversing smooth 3D terrain.

Path following control of planar snake robots using a cascaded approach

“…This means that p y (t) → 0 and θ(t) → 0, which, by (31), implies that θ(t) → 0, which means that control objective (14) is achieved. It subsequently follows from (15b) that p y (t) → 0, which means that control objective (13) is achieved.…”

A review on modelling, implementation, and control of snake robots

“…Furthermore, the work in [17] present a model of the 3D dynamics of a snake robot consisting of a grounded base part and a lifted head part (for manipulation purposes), where some, but not all, of the links in the base part are wheeled. Continuum models of snake robot dynamics, where the snake is treated as a continuous curve that cannot move sideways, are presented in [2,18]. The model in [2] is planar, while the model in [18] considers the 3D dynamics of the continuous snake robot.…”

“…Continuum models of snake robot dynamics, where the snake is treated as a continuous curve that cannot move sideways, are presented in [2,18]. The model in [2] is planar, while the model in [18] considers the 3D dynamics of the continuous snake robot.…”

“…A related approach is employed in [106], which proposes a gait pattern aimed at minimizing the lateral constraint forces on the wheels, and in [18], which formulates and solves an optimization problem in order to minimize the torque Table 3: Previous work on control of snake robot locomotion.…”

A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves

“…Note that shape control of snake robots according to Affiliation continuous curves has been considered in several previous works (see e.g. [2], [3], [8], [10]). However, there are two main contributions of this paper in comparison with previous literature.…”