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Control of snake robots with switching constraints: trajectory tracking with moving obstacle
https://uec.repo.nii.ac.jp/records/9289
https://uec.repo.nii.ac.jp/records/92897d4fa6a9-87a1-4432-8680-737fc6a6a357
名前 / ファイル | ライセンス | アクション |
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2014_AR (2.7 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-07-23 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Control of snake robots with switching constraints: trajectory tracking with moving obstacle | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | snake robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | trajectory tracking | |||||
キーワード | ||||||
言語 | en | |||||
主題 | hybrid system | |||||
キーワード | ||||||
言語 | en | |||||
主題 | switching constraints | |||||
キーワード | ||||||
言語 | en | |||||
主題 | kinematics | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Tanaka, Motoyasu
× Tanaka, Motoyasu× Matsuno, Fumitoshi |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | We propose control of a snake robot that can switch lifting parts dynamically according to kinematics. Snakes lift parts of their body and dynamically switch lifting parts during locomotion: e.g. sinus-lifting and sidewinding motions. These characteristic types of snake locomotion are used for rapid and efficient movement across a sandy surface. However, optimal motion of a robot would not necessarily be the same as that of a real snake as the features of a robot’s body are different from those of a real snake. We derived a mathematical model and designed a controller for the three-dimensional motion of a snake robot on a two-dimensional plane. Our aim was to accomplish effective locomotion by selecting parts of the body to be lifted and parts to remain in contact with the ground. We derived the kinematic model with switching constraints by introducing a discrete mode number. Next, we proposed a control strategy for trajectory tracking with switching constraints to decrease cost function, and to satisfy the conditions of static stability. In this paper, we introduced a cost function related to avoidance of the singularity and the moving obstacle. Simulations and experiments demonstrated the effectiveness of the proposed controller and switching constraints. | |||||
書誌情報 |
en : Advanced Robotics 巻 28, 号 6, p. 415-429, 発行日 2014-01-06 |
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出版者 | ||||||
出版者 | Taylor & Francis | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0169-1864 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1080/01691864.2013.867285 | |||||
権利 | ||||||
権利情報 | This is an Accepted Manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 06/01/2014, available online: https://doi.org/10.1080/01691864.2013.867285. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1080/01691864.2013.867285 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |