Path following of the rope-drive snake-like robot

Chengzu, Huang; Gao, Junyao; Wang, Cheng; Su, Xuandong; Liu, Huaxin; Li, Xin; Liu, Yi; Xu, Zhe

doi:10.1109/icaci.2012.6463364

Cited by 3 publications

(1 citation statement)

References 13 publications

(11 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The direction control is one of the most important questions in the application, but it is difficult to control the locomotion direction of the snake robot because of the multiple-joint and specific movement form. The existing direction control method can be divided into the following three categories: 1) the sinusoidal angle control method [8][9][10], which control the locomotion direction of the snake robot by transforming the expected direction into the parameter of the joint angle, the typical methods are amplitude adjustment method and phase adjustment method, etc. 2) central pattern generator [11,12], CPG, which transforms the expected direction into the parameter of the CPG.…”

Section: Introductionmentioning

confidence: 99%

Simulation and Experimental Study of the Direction Control Based on the Torque Compensation of a Snake Robot

Zhang

et al. 2013

AMM

View full text Add to dashboard Cite

Abstract. Because the direction goals of the snake robot are different in applications, e.g. the target point and target path, the direction control of the snake robot is a challenging problem. In this paper, the direction of the snake robot which is controlled by the passive creeping control method is discussed. A new direction control method which is based on the torque compensation is proposed. The direction control method set a universal direction goal for all the applications. The torque of the head joint which leads the locomotion direction is adjusted by the torque compensation. The compensated torque decreases the angle between the direction of the body axis and the expected direction by the exponential decay function. In simulation, the trajectory and the angle describe the process of direction adjustment. The error analysis proves the validity and adaptability of the proposed direction control method. Also the validity of the proposed method is proved by the experiment which is based on the virtual/physical mixed experimental system.

show abstract