DocumentCode
3416061
Title
Control of redundant snake robot based on kinematic model
Author
Matsuno, Fumitoshi ; Suenaga, Kentaro
Author_Institution
Dept. of Computational Intelligence & Syst. Sci., Tokyo Inst. of Technol., Japan
Volume
3
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
1481
Abstract
We define the redundancy controllable system of hyper-redundant systems. We derive the condition that the hyper-redundant snake robots become redundancy controllable, and the control law considering the redundancy. We propose the control strategy for the singular configuration avoidance and the obstacle avoidance of the snake robots. Simulation results are shown.
Keywords
collision avoidance; mobile robots; motion control; redundancy; robot kinematics; hyper redundant systems; kinematic model; mobile robots; obstacle avoidance; redundancy controllable system; redundant snake robot; singular configuration avoidance; Computational intelligence; Control system analysis; Control system synthesis; Control systems; Controllability; Feedback control; Kinematics; Lyapunov method; Mobile robots; Shape control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1196525
Filename
1196525
Link To Document