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题名: Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory
作者: Guo X(郭宪); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
作者部门: 机器人学研究室
关键词: snake-like robot ; redundant torque ; fiber bundle theory ; nonholonomic ; optimal control
刊名: Science China Information Sciences
ISSN号: 1674-733X
出版日期: 2015
卷号: 58, 期号:3, 页码:1-13
收录类别: SCI ; EI ; CSCD
产权排序: 1
摘要: For the snake-like robot with passive wheels, the side constraint force provides the required thrust which is less than the maximum static friction. Minimizing the side constraint force can reduce possibility of skidding which is important to ensure stable and efficient motion of the robot. In this paper we model the snakelike robot based on the fiber bundle theory. This method can reduce the complexity of the dynamics and derive the exact analytical solution for the side constraint force which is linear to the redundant torque. Using the linear relation, we can derive directly the optimal torque by minimizing the side constraint force. Additionally the nonholonomic constraint can be used for constructing the connection of the fiber bundle. Using the connection, we can select the gait of the snake-like robot. The position and orientation of the head can be described in terms of the special Euclidean group SE(2) which is also the structure group of the fiber bundle. Using the symmetry of the structure group, we can reduce the dynamics equations and derive the analytical solution for the side constraint force. Kinematics and dynamics simulations validate the proposed methods. © 2015 Science China Press and Springer-Verlag Berlin Heidelberg
语种: 英语
WOS记录号: WOS:000349811500014
WOS标题词: Science & Technology ; Technology
类目[WOS]: Computer Science, Information Systems
关键词[WOS]: LOCOMOTION ; MECHANICS
研究领域[WOS]: Computer Science
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/15748
Appears in Collections:机器人学研究室_期刊论文

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