Controllability analysis of planar snake robots influenced by viscous ground friction

Author

Liljeback, P. ; Pettersen, Kristin Y. ; Stavdahl, øyvind ; Gravdahl, Jan Tommy

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

3615

Lastpage

3622

Abstract

This paper investigates the controllability properties of planar snake robots influenced by viscous ground friction forces. The paper provides three contributions: 1) A partially feedback linearized model of a planar snake robot is developed. 2) A stabilizability analysis is presented proving that any asymptotically stabilizable control law for a planar snake robot to an equilibrium point must be time-varying. 3) A controllability analysis is presented proving that planar snake robots are not controllable when the viscous ground friction is uniform, but that a snake robot becomes strongly accessible when the viscous ground friction is non-uniform. The analysis also shows that the snake robot does not satisfy sufficient conditions for small-time local controllability (STLC).

Keywords

asymptotic stability; controllability; feedback; friction; mobile robots; time-varying systems; asymptotically stabilizable control; controllability analysis; partially feedback linearized model; planar snake robots; small-time local controllability; stabilizability analysis; time-varying systems; viscous ground friction forces; Controllability; Cybernetics; Friction; Intelligent robots; Legged locomotion; Linear feedback control systems; Marine animals; Mobile robots; Robot control; Sufficient conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354676

Filename

5354676