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Simulation and Experimental Study of the Direction Control Based on the Torque Compensation of a Snake Robot
Zhang DF(张丹凤); Wu CD(吴成东); Li B(李斌); Wang MH(王明辉)
作者部门机器人学研究室
会议名称4th International Conference of Bionic Engineering (ICBE’13)
会议日期August 13-16, 2013
会议地点Nanjing, China
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications Ltd,
出版地Zurich-Durnten, Switzerland
2013
页码908-916
收录类别EI ; CPCI(ISTP)
EI收录号20140117159551
WOS记录号WOS:000336185100121
产权排序1
ISBN号978-3-03785-932-2
关键词Exponential Function Direction Control Snake Robot Energy Balance
摘要Because the direction goals of the snake robot are different in applications, e.g. the target point and target path, the direction control of a snake robot is a challenging problem. We have proposed a control method, which is called passive creeping based on the energy balance. In this paper, the direction of the snake robot which is controlled by the passive creeping control method is discussed. A new direction control method which is based on the torque compensation is proposed. The direction control method set a universal direction goal for all the applications. The torque of the head joint which leads the locomotion direction is adjusted by the torque compensation. The compensated torque decreases the angle between the direction of the body axis and the expected direction by the exponential decay function. In simulation, the trajectory and the angle express the process of direction adjustment. The error analysis proves the validity and adaptability of the proposed direction control. Also the validity of the proposed method is proved by the experiment which is based on the virtual/physical mixed experimental system.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13927
专题机器人学研究室
推荐引用方式
GB/T 7714
Zhang DF,Wu CD,Li B,et al. Simulation and Experimental Study of the Direction Control Based on the Torque Compensation of a Snake Robot[C]. Zurich-Durnten, Switzerland:Trans Tech Publications Ltd,,2013:908-916.
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