DocumentCode
2775420
Title
Underactuated crawling robot
Author
Ito, Kazuyuki ; Matsuno, Fumitoshi ; Takahashi, Rie
Author_Institution
Dept. of Comput. Intelligence & Syst. Sci., Tokyo Inst. of Technol., Yokohama, Japan
Volume
3
fYear
2000
fDate
2000
Firstpage
1684
Abstract
Underactuated systems are those processing fewer actuators than degrees of freedom. Decrease of the number of actuators is a merit from the point of view of size and weight of the system. But generally it is difficult to control the underactuated system. In this paper we realize crawling motion by an underactuated robot. Control law based on partial feedback linearization is proposed and stability of the closed-loop system is discussed on the basis of zero dynamics. To demonstrate the effectiveness of the proposed controller experiments have been carried out
Keywords
closed loop systems; feedback; linearisation techniques; mobile robots; stability; closed-loop system stability; partial feedback linearization; underactuated crawling robot; Actuators; Control systems; Gravity; Indium tin oxide; Leg; Legged locomotion; Linear approximation; Linear feedback control systems; Robot kinematics; Tail;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location
Takamatsu
Print_ISBN
0-7803-6348-5
Type
conf
DOI
10.1109/IROS.2000.895214
Filename
895214
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