DocumentCode
2476142
Title
Passivity control of underactuated snake-like robots
Author
Li, Junquan ; Shan, Jinjun
Author_Institution
Dept. of Earth & Space Sci. & Eng., York Univ., Toronto, ON
fYear
2008
fDate
25-27 June 2008
Firstpage
485
Lastpage
490
Abstract
This paper presents a passivity control for snake-like robot systems. The bionic robot and underactuated robot have been put into practice. The paper mainly studies the snake robot that is close to a real snake by using biological modeling. The dynamic model in this paper has been built with the passivity controller technique. Lyapunovpsilas stability theory is applied to prove the stability of the proposed controller. Simulations are conducted to verify the effectiveness of the controller.
Keywords
Lyapunov methods; biology; mobile robots; stability; Lyapunov stability theory; biological modeling; bionic robot; passivity control; underactuated snake-like robots; Biological system modeling; Control systems; Intelligent robots; Legged locomotion; Mathematical model; Mobile robots; Orbital robotics; Robot control; Robotics and automation; Stability; Passivity; Snake robot; Underactuated;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location
Chongqing
Print_ISBN
978-1-4244-2113-8
Electronic_ISBN
978-1-4244-2114-5
Type
conf
DOI
10.1109/WCICA.2008.4592971
Filename
4592971
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