Economic model predictive control for snake robot locomotion

Abstract

In this work, the control of snake robot locomotion via economic model predictive control (MPC) is studied. Only very few examples of applications of MPC to snake robots exist and rigorous proofs for recursive feasibility and convergence are missing. We propose an economic MPC algorithm that maximizes the robot's forward velocity and integrates the choice of the gait pattern into the closed loop. We show recursive feasibility of the MPC optimization problem, where some of the developed techniques are also applicable for the analysis of a more general class of system. Besides, we provide performance results and illustrate the achieved performance by numerical simulations. We thereby show that the economic MPC algorithm outperforms a standard lateral undulation controller and achieves constraint satisfaction. Surprisingly, a gait pattern different to lateral undulation results from the optimization.Marko Nonhoff is with the Institute of Automatic Control, Leibniz University Hannover, 30167 Hannover, Germany, Philipp N. Köhler and Frank Allgöwer are with the

Exploring Snake Robot Motion Control: A VR-Enhanced Approach for Studying the MPC Algorithm

“…In the field of snake robots, Model Predictive Control is utilized for predictive path planning and automatic generation of locomotion. In [14], the economic MPC controller maximizes the robot's forward velocity while incorporating gate pattern selection in a closed-loop system. Experimental results demonstrate that the economic MPC algorithm surpasses a standard lateral undulation controller in terms of constraint satisfaction and overall performance.…”

“…Thus the algorithm shown in diagram 5 was named 'MPC-9'. A similar control strategy can be found in [14]. By leveraging the principles of serpentine motion and employing advanced control strategies, snake robots exhibit improved performance and agility, enabling them to navigate challenging environments with enhanced efficiency.…”

Analysis of the Snake Robot Kinematics with Virtual Reality Visualisation

“…However, there is a lack of visual implementation. Previous articles on the subject analyse the joint angles’ angular velocities and the robot’s head or mass centre linear velocity [ 24 , 25 , 26 , 27 , 28 ]. In these articles, snake robots used Line-of-Sight (LOS) guidance control law to exponentially stabilise the desired straight-line path under a given condition on the look-ahead distance parameter.…”

Locomotion Control of Snake-like Robot utilizing Friction Forces: Stability Verification of Model Following Servo Controller

“…Under these conditions, the snake-like robot has the potential to experience body skidding. Some studies based on this assumption have been reported [5,6,7,8,9]. For example, in [9], body skidding is represented by a hybrid model to realize a propulsion control system.…”