Title :
Cooperative control of two snake robots
Author :
Tanaka, Motoyasu ; Matsuno, Fumitoshi
Author_Institution :
Univ. of Electro-Commun., Chofu
Abstract :
In this paper, we derive a dynamic model and a control law for cooperative task of two snake robots which have wheeled links and demonstrate the validity of proposed controller by simulation and experiment. First, we derive a dynamic model of single snake robot with redundancy by introducing the shape controllable points. Next, we extend it to the model for the cooperative task of two redundant snake robots and propose a control law to accomplish this task. Finally, in order to demonstrate the validity of the derived model and effectiveness of the proposed control law, simulation and experiment are carried out
Keywords :
attitude control; force control; manipulator dynamics; mobile robots; position control; redundant manipulators; cooperative control; dynamic model; mobile manipulator; redundant snake robots; wheeled links; Convergence; Error correction; Force control; Kinematics; Manipulators; Mobile robots; Orbital robotics; Shape control; Trajectory; Wheels;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641744