DocumentCode
2039894
Title
Linear approximation model for snake robots and its application
Author
Ikeda, Kenji ; Hatanaka, Yoko ; Shimomura, Takao
Author_Institution
Univ. of Tokushima, Tokushima, Japan
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
2915
Lastpage
2918
Abstract
This paper proposes a modeling method of snake robots and analyzes the obtained model. Regarding the snake robot as a periodic system, a discrete-time linearized approximation model is obtained based on lifting technique and Fourier series expansion. PI-MOESP type subspace model identification method is applied for obtaining the model. Hankel singular values of the obtained model are anlyzed and some remarks are given for the selection of the control input.
Keywords
Fourier series; approximation theory; discrete time systems; mobile robots; Fourier series expansion; Hankel singular values; PI-MOESP type subspace model identification method; discrete-time linearized approximation model; lifting technique; linear approximation model; modeling method; periodic system; snake robots; Analytical models; Linear approximation; Mathematical model; Numerical models; Robot kinematics; Tuning; Lifting; Periodic systems; Snake robot; Subspace identification method;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060481
Link To Document