DocumentCode
3341379
Title
Control and analysis of the gait of snake robots
Author
Prautsch, P. ; Mita, T.
Author_Institution
Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan
Volume
1
fYear
1999
fDate
1999
Firstpage
502
Abstract
Snake´s gait enables it to climb a hill or wind up a tree and climbing. Hirose (1987) has long investigated the motion of snakes and made several snake robots. He also showed that the trace of the snake body draws the so called “serpenoid curve”. However, the control of the position of the snake head was shown to be difficult. In this paper, we show the dynamical position control of the snake robot and discuss the effect of constraining the trace of the head to a “serpenoid curve”
Keywords
Lyapunov methods; control system analysis; mobile robots; motion control; nonlinear systems; position control; robot dynamics; Lyapunov method; gait analysis; mobile robots; motion control; nonholonomic system; position control; serpenoid curve; snake robots; Capacitive sensors; Character generation; Control systems; Control theory; Creep; Legged locomotion; Mobile robots; Muscles; Position control; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location
Kohala Coast, HI
Print_ISBN
0-7803-5446-X
Type
conf
DOI
10.1109/CCA.1999.806692
Filename
806692
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