Control strategy for a snake-like robot based on constraint force and verification by experiment

Author

Watanabe, Kouki ; Iwase, Masami ; Hatakeyama, Shoshiro ; Maruyama, Takehiko

Author_Institution

Dept. of Comput. & Syst. Eng., Tokyo Denki Univ., Hatoyama

fYear

2008

fDate

22-26 Sept. 2008

Firstpage

1618

Lastpage

1623

Abstract

This paper aims to develop a method for the locomotion of a snake-like robot, and proposes a control strategy based on the friction force between robotpsilas body and the ground. Our concept of a control system design is that a control law should be based on the friction force as a real snake is. Both the motion equation of the robot and the friction force are derived by the projection method proposed by W. Blajer. The friction model is evaluated in the cost function of the control system design based on state dependent Riccati equation. As a result a derived control law takes the friction effect into account. We also build an experimental system. The effectiveness of the proposed method is verified by simulations and experiments.

Keywords

Riccati equations; force control; friction; mobile robots; motion control; Riccati equation; constraint force; control law; control strategy; control system design; friction force; motion equation; projection method; robot locomotion; snake-like robot; Cost function; Force; Friction; Mobile robots; Numerical models; Robot kinematics; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Conference_Location

Nice

Print_ISBN

978-1-4244-2057-5

Type

conf

DOI

10.1109/IROS.2008.4650792

Filename

4650792