DocumentCode
138262
Title
Parameterized controller generation for multiple mode behavior
Author
Chaohui Gong ; Travers, Matthew J. ; Hsien-Tang Kao ; Choset, Howie
fYear
2014
fDate
14-18 Sept. 2014
Firstpage
3655
Lastpage
3660
Abstract
We derive and demonstrate a new capability for snake robots in which two behaviors-one for locomotion and the other for manipulation-are executed simultaneously on the same robot. This is done in two steps: 1) inverse kinematics via numerical optimization and 2) gait-based locomotion via modal decomposition. The result is an analytical representation of a multiple mode behavior that reduces online execution to simple parameterized control. This representation makes it possible to derive a feedback control law that enables reliable visual servoing using a snake robot while climbing a pole.
Keywords
feedback; mobile robots; robot kinematics; robot vision; feedback control law; gait-based locomotion; inverse kinematics; locomotion behavior; manipulation behavior; modal decomposition; multiple mode behavior; numerical optimization; parameterized controller generation; snake robots; visual servoing; Equations; Head; Joints; Kinematics; Optimization; Robots; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location
Chicago, IL
Type
conf
DOI
10.1109/IROS.2014.6943075
Filename
6943075
Link To Document