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

Nansai, Shunsuke; Yamato, Takumi; Iwase, Masami; Itoh, Hiroshi

doi:10.3390/app9194012

Cited by 4 publications

(4 citation statements)

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“…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.…”

Section: Introductionmentioning

confidence: 99%

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

Nansai

Itoh

2022

Journal of Advanced Simulation in Science and Engineering

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The purpose of this paper is to verify the effectiveness of Model Following Servo Control (MFSC) as a stabilizing control measure for systems with uncontrollable disturbances. Both the gravity compensation control system of the 1-link manipulator and the head-position control system of the two-wheeled robot is designed. In gravitational compensation control, gravitational acceleration is defined as an uncontrollable state. In the head-position control, the frictional force in the axial direction of the skidding wheel is defined as an uncontrollable state. The effectiveness of the MFSC as a stabilizing control system for systems containing uncontrollable states is verified via numerical simulations.

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Section: Introductionmentioning

confidence: 99%

“…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. The hybrid model method requires accurate model switching for the control system to properly determine the control input.…”

Section: Introductionmentioning

confidence: 99%

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

Nansai

Itoh

2022

Journal of Advanced Simulation in Science and Engineering

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“…Because of this, some scholars have put considerable effort into understanding the snake's movement and trying to create a robot that mimics it. The steps involved are to first study the snake's motion curve and then to apply mechanical operation principles to create snake-type motion [8]. These steps include deriving the velocities of different snake segments to perform rectilinear motion [9][10][11], using the position of the motor and leaning against the rotation of the wheel to cause the snake-shaped robot to move forward [12], and using Watt-I planar linkage mechanism to control a biped water-running robot to generate propulsion force [13].…”

Section: Introductionmentioning

confidence: 99%

Continual Learning for Addressing Optimization Problems with a Snake-Like Robot Controlled by a Self-Organizing Model

Chen

2020

Applied Sciences

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We have entered a new era, “Industry 4.0”, that sees the overall industry marching toward an epoch of man–machine symbiosis and intelligent production. The developers of so-called “intelligent” systems must attempt to seriously take into account all possible situations that might occur in the real world, to minimize unexpected errors. By contrast, biological systems possess comparatively better “adaptability” than man-made machines, as they possess a self-organizing learning that plays an indispensable role. The objective of this study was to apply a malleable learning system to the movement control of a snake-like robot, to investigate issues related to self-organizing dynamics. An artificial neuromolecular (ANM) system previously developed in our laboratory was used to control the movements of an eight-joint snake-like robot (called Snaky). The neuromolecular model is a multilevel neural network that abstracts biological structure–function relationships into the system’s structure, in particular into its intraneuronal structure. With this feature, the system possesses structure richness in generating a broad range of dynamics that allows it to learn how to complete the assigned tasks in a self-organizing manner. The activation and rotation angle of each motor are dependent on the firing activity of neurons that control the motor. An evolutionary learning algorithm is used to train the system to complete the assigned tasks. The key issues addressed include the self-organizing learning capability of the ANM system in a physical environment. The experimental results show that Snaky was capable of learning in a continuous manner. We also examined how the ANM system controlled the angle of each of Snaky’s joints, to complete each assigned task. The result might provide us with another dimension of information on how to design the movement of a snake-like robot.

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“…Ma et al have implemented slope climbing control by adjusted amplitude of the Serpenoid Curve via a simulator [4]. In our previous study, we have designed a servo control system for tracking to the Serpenoid Curve [5]. 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].…”

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

Cited by 4 publications

References 46 publications

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

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

Continual Learning for Addressing Optimization Problems with a Snake-Like Robot Controlled by a Self-Organizing Model

Generalized Singularity Analysis of Snake-Like Robot

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