Control Strategy for a Snake-Like Robot Based on Constraint Force and Verification by Experiment

Watanabe, Kenji; Iwase, Masami; Hatakeyama, S.; Maruyama, Takehiko

doi:10.1163/156855309x443115

Cited by 16 publications

(7 citation statements)

References 11 publications

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“…To do that, (39) needs to be transformed into a usable form for the controller. Firstly, the constraint forces of the system are obtained using the projection method [39,40]:…”

Section: Control System Designmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator

Nansai

Elara

Tan

et al. 2015

Journal of Robotics

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The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system and a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller, thus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.

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“…To do that, (39) needs to be transformed into a usable form for the controller. Firstly, the constraint forces of the system are obtained using the projection method [39,40]:…”

Section: Control System Designmentioning

confidence: 99%

“…Journal of Robotics Substituting the above terms into (39) and (41) and further simplification generate the following model for the controller:…”

mentioning

confidence: 99%

Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator

Nansai

Elara

Tan

et al. 2015

Journal of Robotics

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“…Several disadvantages still exist in many cases and prototypes including shortcomings of mechanical structures, unreliable control strategy, and algorithms [13,14]. Therefore, a snake-like robot which adapts to changes in complex environment is proposed to overcome current problems in the snake-like robot design.…”

Section: Introductionmentioning

confidence: 99%

Design and Realize a Snake-Like Robot in Complex Environment

Liu

et al. 2019

Journal of Robotics

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Aiming at high performance requirements of snake-like robots under complex environment, we present a control system of our proposed design which utilizes a STM32 as the core processor and incorporates real-time image acquisition, multisensor fusion, and wireless communication technology. We use Solidworks to optimize the design of head, body, and tail joint structure of the snake-like robot. The system is a real-time system with a simple-circuit structure and multidegrees of freedom are attributed to the flawless design of control system and mechanical structure. We propose a control method based on our simplified CPG model. Meanwhile, we improve Serpenoid control function and then investigate how different parameters affect the motion gait in terms of ADAMS emulation. Finally, experimental results show that the snake-like robot can tackle challenging problems including multi-information acquisition and processing, multigait stability, and autonomous motion and further verify the reliability and accuracy of the system in our combinatory experiments.

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“…Relative researches with respect to propulsive control use difference of the friction forces between the propulsive direction and the normal direction also have been reported [6,7]. In our previous study, a head position control [8][9][10], a force control [11] and a slope climbing control [12] have been designed.…”

Section: Introductionmentioning

confidence: 99%

“…These researches [6][7][8][9][10][11][12] have been based on a dynamical model of the snake-like robot. The discussions on it has been reported in order to avoid singular configurations as well.…”

Section: Introductionmentioning

confidence: 99%

Generalized Singularity Analysis of Snake-Like Robot

2018

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The purpose of this paper is to elucidate a generalized singularity analysis of a snake-like robot. The generalized analysis is denoted as analysis of singularity of a model which defines all designable parameters such as the link length and/or the position of the passive wheel as arbitrary variables. The denotation is a key point for a novelty of this study. This paper addresses the above new model denotation, while previous studies have defined the designable parameters as unique one. This difference makes the singularity analysis difficult substantively. To overcome this issue, an analysis method using redundancy of the snake-like robot is proposed. The proposed method contributes to simplify singularity analysis concerned with the designable parameters. The singular configurations of both the model including side-slipping and the one with non side-slipping are analyzed. As the results of the analysis, we show two contributions. The first contribution is that a singular configuration depends on designable parameters such as link length as well as state values such as relative angles. The second contribution is that the singular configuration is characterized by the axials of the passive wheels of all non side-slipping link. This paper proves that the singular configuration is identified as following two conditions even if the designable parameters are chosen as different variables and the model includes side-slipping link. One is that the axials of passive wheels of all non side-slipping links intersect at a common point. Another one is that axials of passive wheels of all non side-slipping links are parallel.

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Control Strategy for a Snake-Like Robot Based on Constraint Force and Verification by Experiment

Cited by 16 publications

References 11 publications

Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator

Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator

Design and Realize a Snake-Like Robot in Complex Environment

Generalized Singularity Analysis of Snake-Like Robot

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