Dynamic modeling for locomotion-manipulation of a snake-like robot by using geometric methods

Zhifeng Wang, Bin Li, Yuechao Wang, Shugen Ma
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe the mechanism and the kinematics of the robot. The dynamics of the robot are established in a Riemannian manifold. Furthermore, the dynamics
more » ... ore, the dynamics of manipulation can be directly degenerated from those of locomotion. This method unifies the dynamics of locomotion and manipulation of the snake-like robot in the differential geometry formulation. Finally, simulation results of the method are presented.
doi:10.1109/iros.2009.5354838 dblp:conf/iros/WangMLW09 fatcat:rlxqhlctkjbl7khyjflazxb6ua