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Study on the optimal passive creeping control of the snake-like robot
Zhang DF(张丹凤); Wu CD(吴成东); Li B(李斌)
作者部门机器人学研究室
会议名称2012 10th World Congress on Intelligent Control and Automation (WCICA)
会议日期July 6-8, 2012
会议地点Beijing, China
会议主办者IEEE Control Systems Society
会议录名称Proceedings of the 10th World Congress on Intelligent Control and Automation
出版者IEEE
出版地New York, USA
2012
页码99-103
收录类别EI
EI收录号20130415918992
产权排序1
ISBN号978-1-4673-1398-8
关键词Snake-like Robot Avoid Slipping Optimal Torque
摘要Reducing the energy dissipation can improve the movement efficiency of a snake-like robot. Avoiding side slipping is the main way to reduce the energy dissipation. A creeping control method for the snake-like robot, named optimal passive creeping, is proposed. This method makes the robot avoid slipping by inputting the proper torque which is adjusted by its body shape. The purpose of the control method is to insure that the snake-like robot’s velocity is the fastest before side slipping. In simulation, the angles, torques, energy states of the snake-like robot are revealed, and whether the snake-like robot has slipped is analyzed by accumulating the energy dissipation. The simulations demonstrate the validity of the optimal passive creeping control method.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10217
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.College of Information Science and Engineering, Northeastern University, Shenyang, China
3.Graduate School of the Chinese Academy of Sciences, Beijing, China
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Zhang DF,Wu CD,Li B. Study on the optimal passive creeping control of the snake-like robot[C]//IEEE Control Systems Society. New York, USA:IEEE,2012:99-103.
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