Control strategy for a snake-like robot based on constraint force and its validation

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

doi:10.1109/aim.2007.4412501

Cited by 7 publications

(4 citation statements)

References 8 publications

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“…From (9), since columns after 3rd column are clearly rank sufficient and J s ∈ R η−1×2 , rank of (9) drops and the snake-like robot is singular, when rankJ s < 2. (10) is analyzed as well as (8). Thus, conditions of which rankJ si drops are formulated.…”

Section: Snake-like Robot With Side-slippingmentioning

confidence: 99%

“…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%

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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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Section: Snake-like Robot With Side-slippingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Generalized Singularity Analysis of Snake-Like Robot

2018

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“…They also proposed a shape control method for a snake robot that maintains the head position and orientation as well as avoiding joint limits and self-collision [18], and proposed a smooth controller for an articulated mobile robot with switching constraints [19]. In our previous study, locomotion control of a snake-like robot was realized and a head position control [20][21][22], force control [23], and slope climbing control [24] were designed. Xiao et al designed a walking method for moving pipes and curved pipes with different diameters and proposed continuous-time dynamical models which integrated an extended Kalman filter (EKF) and an Inertial Measurement Unit (IMU) [25,26].…”

Section: Introductionmentioning

confidence: 99%

Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer

et al. 2019

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The purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels of the snake-like robot have a chance of side-slipping. To locomote the snake-like robot dexterously, a control system which adapts to such side-slipping is desired. There are two key points to realizing such a system: First, a dynamic model capable of representing the passive side-slipping must be formulated. A solution for the first key point is to develop a switching dynamic model for the snake-like robot, which switches depending on the occurrence of the side-slipping, by utilizing a projection method. The second key point is to adapt the control system’s behavior to side-slipping. An idea for such a solution is to include the side-slipping velocity in the weighting matrices. An algorithm to estimate the occurrence of side-slipping and the particular side-slipping link is constructed, to formulate the dynamic model depending on the actual side-slipping situation. The effectiveness of the designed Luenberger observer and the head control system for side-slipping adaptation is verified through numerical simulation.

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