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Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model
2014
2014 IEEE Conference on Control Applications (CCA)
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This paper considers direction following control of planar snake robots for which the equations of motion are described based on a simplified model. ...
The definition of the constraint manifold is inspired by the well-known reference joint angle trajectories which induce lateral undulatory motion for snake robots. ...
CONCLUSION We considered direction following control of planar snake robots using the method of virtual holonomic constraints, based on a simplified dynamic model developed for control design and analysis ...
doi:10.1109/cca.2014.6981476
dblp:conf/IEEEcca/RezapourHPMM14
fatcat:kyjk5ux3ubbodk4tuedrx4g574
Path following control of planar snake robots using virtual holonomic constraints
2013
2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
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This paper considers path following control of planar snake robots using virtual holonomic constraints. We first derive the Euler-Lagrange equations of motion of the snake robot. ...
We show that enforcing the appropriately defined virtual holonomic constraints implies that the robot converges to and follows a desired geometric path. ...
In [8, 9] cascaded systems theory is employed to achieve path following control of a snake robot described by a simplified model. ...
doi:10.1109/robio.2013.6739514
dblp:conf/robio/RezapourPLG13
fatcat:2mabo7mecnc4pd6aydeqtghz3q
Path following control of planar snake robots using virtual holonomic constraints: theory and experiments
2014
Robotics and Biomimetics
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This paper considers path following control of planar snake robots using virtual holonomic constraints. ...
In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange equations of motion of the system. ...
Acknowledgements This research was partly supported by the Research Council of Norway through the Centres of Excellence funding scheme, project no. 223254 AMOS and project no. 205622. ...
doi:10.1186/s40638-014-0003-6
pmid:26613075
pmcid:PMC4648989
fatcat:uaf7qmcdafe3vjeybuw452v5du
Maneuvering control of planar snake robots based on a simplified model
2014
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)
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This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. ...
In particular, by solving the maneuvering problem, we control the body shape, orientation, and planar position of the robot. ...
In [9, 10] , cascaded systems theory is employed to achieve path following control of a snake robot without nonholonomic velocity constraints which is described by a simplified model. ...
doi:10.1109/robio.2014.7090388
dblp:conf/robio/RezapourHP14
fatcat:5buzff7hxvg4pirmjrh4zopowm
Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints
2016
IEEE Transactions on Control Systems Technology
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Index Terms-Virtual holonomic constraints, biologically inspired robot, path following, snake robot, hierarchical control, reduction theorems, stability of closed sets. A. Mohammadi and M. ...
This paper investigates the problem of maneuvering control for planar snake robots. ...
In [24] , by utilizing the direction following controller of [23] and the path following controller of [19] , a maneuvering controller is proposed based on the simplified model for snake robots which ...
doi:10.1109/tcst.2015.2467208
fatcat:4hr6sfq7ujertckzgqp76nlype
Formation control of underactuated bio-inspired snake robots
2016
Artificial Life and Robotics
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In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait pattern defined by some prespecified ...
Specifically, we use the proposed maneuvering controller to solve the formation control problem for a group of snake robots by synchronizing the commanded velocities of the robots. ...
In [13] [14] cascaded systems theory is employed to achieve path following control of a snake robot described by a simplified locomotion model. ...
doi:10.1007/s10015-016-0297-2
fatcat:fn6c2wuslbeptkc74htkdejd7m
Body shape and orientation control for locomotion of biologically-inspired snake robots
2014
5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
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This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. ...
In particular, we employ the dynamic compensator to practically stabilize a reference head angle defined by a Line-of-Sight path following guidance law. ...
In [12] [13] , cascaded systems theory is employed to achieve path following control of a wheel-less snake robot described by a simplified model. ...
doi:10.1109/biorob.2014.6913910
dblp:conf/biorob/RezapourPGL14
fatcat:kui25mxxu5aprmjzhhy6xy3lcq
A survey on snake robot modeling and locomotion
2009
Robotica (Cambridge. Print)
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The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. ...
During the last 10-15 years, the published literature on snake robots has increased significantly. ...
Gravagne et al. have presented a model of the dynamics of a planar continuum robot with a spring-steel backbone. 67 The model is based on energy formulations of the spring-steel manipulator, and describes ...
doi:10.1017/s0263574709005414
fatcat:tztbhmpi75ejpfk67yy77oj6ue
Snakes on a plan: Toward combining planning and control
2013
2013 IEEE International Conference on Robotics and Automation
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The contribution of this paper rests on the "virtual chassis" which is a choice of body frame for the snake robot that allows the planner to efficiently select among and plan with gaits to direct the robot ...
They possess many degrees of freedom, and therefore are modeled by a high dimensional configuration space which must be searched to plan a path. ...
ACKNOWLEDGMENTS We thank Matthew Tesch and Matthew Travers for their assistance in integrating the ODE-based Modsnake simulator with our motion planner. ...
doi:10.1109/icra.2013.6631317
dblp:conf/icra/HattonKCRGG13
fatcat:g6uujnduabcz3mtkiuse34kk3y
Developments in Snake Robot Modeling and Locomotion
2006
2006 9th International Conference on Control, Automation, Robotics and Vision
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Properties such as high terrainability, redundancy, and the possibility of complete sealing of the body of the robot, make snake robots very interesting for practical applications and hence as a research ...
However, no thorough review of the theory presented in this period regarding mathematical modeling techniques and locomotion of snake robots has been found. ...
The direction of locomotion when using lateral undulation (A v = 0) is controlled by γ, while β 0 dominates the control of locomoting direction during sidewinding. ...
doi:10.1109/icarcv.2006.345142
dblp:conf/icarcv/TransethP06
fatcat:7n7a3ktimvgarmzaesisu4goxe
A control-oriented model of underwater snake robots
2014
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)
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The main objective of the paper is to develop a model that is well suited for control design and stability analysis for swimming snake robots. ...
In this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. ...
In these references the authors developed a simplified modeling approach for a planar snake robot describing the body shape dynamics in terms of the translational motion of the links, something which is ...
doi:10.1109/robio.2014.7090422
dblp:conf/robio/KelasidiPG14a
fatcat:arg4tvy6rfap5l7nlpius6dbdi
Macrocontinuous Dynamics for Hyperredundant Robots: Application to Kinematic Locomotion Bioinspired by Elongated Body Animals
2012
IEEE Transactions on robotics
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In general, this algorithm requires a model of the external forces (responsible for the self propulsion), but we will see how such a model can be replaced by a kinematic model of a combination of contacts ...
control torques (and/or forces) as well as the rigid net motions of the robot. ...
Mathematically, these supports are modeled by non-holonomic constraints preventing the cross sections of the snake to slide laterally. ...
doi:10.1109/tro.2011.2171616
fatcat:w4crs3xjkzaw7p2g6v5wqggxse
Trident snake robot: Locomotion analysis and control
2004
IFAC Proceedings Volumes
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In this paper, we propose a novel kind of wheeled mobile robot, called "trident snake robot". ...
Based on analysis of the controllability Lie algebra and corresponding holonomy, we clarify the locomotion principle of the robot and realize rotation and translation control using periodic inputs. ...
MODELING OF THE TRIDENT SNAKE ROBOT
Variable Definitions Model of the trident snake robot is illustrated in Fig. 1-2 . It is put on a flat plane; we only consider planar motion in this paper. ...
doi:10.1016/s1474-6670(17)31339-3
fatcat:xysikn6s5vbptmcxmejmbk5ffa
Tracking control for snake robot joints
2007
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
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This paper considers the problem of model based control of the joints of a snake robot without wheels. ...
The controller is based on input-output linearization of a control plant model of the snake robot dynamics also developed in this paper. ...
MATHEMATICAL MODELING In this section, we first present the planar mathematical model of a planar snake robot without wheels based on the standard 'robot equation' with minimal coordinates [15] . ...
doi:10.1109/iros.2007.4399174
dblp:conf/iros/TransethWPHP07
fatcat:izmho4wxkjfghog6w63ihac2wi
Optimal dynamic force mapping for obstacle-aided locomotion in 2D snake robots
2014
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
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To this end, we present a new dynamical snake model, an explicit algebraic relationship between input and obstacle forces, and formulate an optimization problem that seeks to minimize energy consumption ...
Snake robots are biomimetic robots highly suited for traversing challenging terrain where traditional robots have difficulty moving. ...
ACKNOWLEDGEMENTS This work was supported by the Research Council of Norway through the SLICE project, project number 205622. ...
doi:10.1109/iros.2014.6942579
dblp:conf/iros/HoldenSG14
fatcat:bgiq2dxlqzdkvhq2v3poytrua4
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