Locomotion control of a snake-like robot based on dynamic manipulability

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.

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“…This method is employed in e.g. [4][5][6][7][8] for computed torque control of the position and orientation of wheeled snake robots.…”

Section: Introductionmentioning

confidence: 99%

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

Rezapour

Hofmann

Pettersen

et al. 2014

2014 IEEE Conference on Control Applications (CCA)

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“…Some previous literature investigate locomotion control problems for snake robots. Position and orientation control for a class of snake robots which are subject to nonholonomic velocity constraints is considered in [5][6][7]. In particular, these constraints allow the control input to be specified directly in terms of the desired propulsion of the snake robot.…”

Section: Introductionmentioning

confidence: 99%

Maneuvering control of planar snake robots based on a simplified model

Rezapour

Hofmann

Pettersen

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Abstract-This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the position of the center of mass of the robot, and to regulate the forward velocity of the robot along the path to a constant reference velocity. In order to solve this problem, we first stabilize a desired gait pattern for the fully-actuated body shape variables of the robot. Furthermore, we use the parameters of this gait pattern in the form of two dynamic compensators which control orientation and position of the robot in the plane. In particular, by solving the maneuvering problem, we control the body shape, orientation, and planar position of the robot.

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“…Hence, the low control torques reduce the risk of wheel slip. Date et al 84 introduce an expression for the constraint forces introduced by the wheels and a control approach based on dynamic manipulability is proposed to avoid sideways slip. A control strategy to avoid wheel slip is also presented in a later paper by Date et al 85 The latter approach uses an automatic generation of the joint reference signals based on a velocity reference for the head of the snake robot while keeping a winding shape of the robot.…”

Section: Lateral Undulation For Snake Robotsmentioning

confidence: 99%

“…The results given by Date et al 85 are extensions of the methods presented by Prautsch and Mita 47 where the snake robot tended to a singular (straight) posture when the number of links was increased. 84 Results on the controllability of snake robots are given by Kelly et al 32 and Ostrowski and Burdick. 86 McIsaac and Ostrowski 21,58,87 have derived and implemented closed-loop heading control based on imagebased position feedback for an underwater snake robot, and a controller for stopping the underwater snake robot during forwards and circular motion is presented.…”

Section: Lateral Undulation For Snake Robotsmentioning

confidence: 99%

A survey on snake robot modeling and locomotion

2009

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SUMMARYSnake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10-15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

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Locomotion control of a snake-like robot based on dynamic manipulability

Cited by 52 publications

References 5 publications

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

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

Maneuvering control of planar snake robots based on a simplified model

A survey on snake robot modeling and locomotion

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