Trajectory Tracking Control of Snake Robots Based on Dynamic Model

Matsuno, Fumitoshi; Sato, H.

doi:10.1109/robot.2005.1570575

Cited by 89 publications

(62 citation statements)

References 5 publications

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“…Chirikjian developed an efficient formulation of approximate hyper-redundant manipulator dynamics, based on the principle of continuum mechanics [21]. Matsuno et al presented the dynamic modelling of an underwater snake-like robot, based on the Newton-Euler equations [22]. The two methods considered hyperredundant serial rigid-link systems, but cannot model the continuous nature of continuum robots.…”

Section: Introductionmentioning

confidence: 99%

An Analytic Method for the Kinematics and Dynamics of a Multiple-Backbone Continuum Robot

Wang

et al. 2013

International Journal of Advanced Robotic Systems

109

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Continuum robots have been the subject of extensive research due to their potential use in a wide range of applications. In this paper, we propose a new continuum robot with three backbones, and provide a unified analytic method for the kinematics and dynamics of a multiple-backbone continuum robot. The robot achieves actuation by independently pulling three backbones to carry out a bending motion of two-degreesof-freedom (DoF). A three-dimensional CAD model of the robot is built and the kinematical equation is established on the basis of the Euler-Bernoulli beam. The dynamical model of the continuum robot is constructed by using the Lagrange method. The simulation and the experiment's validation results show the continuum robot can exactly bend into pre-set angles in the two-dimensional space (the maximum error is less than 5% of the robot length) and can make a circular motion in three-dimensional space. The results demonstrate that the proposed analytic method for the kinematics and dynamics of a continuum robot is feasible.

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Section: Introductionmentioning

confidence: 99%

An Analytic Method for the Kinematics and Dynamics of a Multiple-Backbone Continuum Robot

Wang

et al. 2013

International Journal of Advanced Robotic Systems

109

View full text Add to dashboard Cite

show abstract

“…Substituting (17) and (18) into (1) for i = 2, premultiplying with M −1 2 (·) and utilizing (15) results in…”

Section: Task-space Controller Developmentmentioning

confidence: 99%

“…Manipulators with continuum backbones are able to bend at any point along their structure, and thus have the potential to perform operations not feasible with conventional robots, such as whole-arm grasping, manipulations of objects having arbitrary and a priori unknown shapes, and navigation in unstructured environments especially in search and rescue situations. Kinematics for continuum manipulators have been extensively developed, a review of which can be found in [12] while research in dynamics is active [13], [14], [15], [16], [17]. † To whom all correspondence should be addressed.…”

Section: Introductionmentioning

confidence: 99%

Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master

Kapadia

Walker

Tatlıcıoğlu

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a nonredundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

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“…Several mathematical models of the kinematics and dynamics of snake locomotion have been developed. Some models [5]- [8] assume that the links of the snake cannot move sideways (no-slip conditions achieved by e.g. mounting passive wheels along the snake body), while others assume isotropic or anisotropic friction conditions [9]- [12].…”

Section: Introductionmentioning

confidence: 99%

A hybrid model of obstacle-aided snake robot locomotion

Liljebäck

Pettersen

Stavdahl

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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Abstract-A snake can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided locomotion, is investigated for snake robot locomotion purposes in this paper. The paper presents a hybrid model of the dynamics of a planar snake robot interacting with obstacles in its environment. Obstacle contact forces are calculated by formulating and solving a linear complementarity problem (LCP). The existence and uniqueness properties of the state evolution of the hybrid model are investigated. Simulation results validate the hybrid modelling approach.

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Trajectory Tracking Control of Snake Robots Based on Dynamic Model

Cited by 89 publications

References 5 publications

An Analytic Method for the Kinematics and Dynamics of a Multiple-Backbone Continuum Robot

An Analytic Method for the Kinematics and Dynamics of a Multiple-Backbone Continuum Robot

Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master

A hybrid model of obstacle-aided snake robot locomotion

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