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Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory
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
发表期刊Science China Information Sciences
ISSN1674-733X
2015
卷号58期号:3页码:1-13
收录类别SCI ; EI ; CSCD
EI收录号20150700511576
WOS记录号WOS:000349811500014
CSCD记录号CSCD:5386558
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标题词Science & Technology ; Technology
WOS类目Computer Science, Information Systems
关键词[WOS]LOCOMOTION ; MECHANICS
WOS研究方向Computer Science
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15748
专题机器人学研究室
通讯作者Wang MH(王明辉)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Department of Robotics, Ritsumeikan University, Shiga-ken, Japan
3.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Guo X,Ma SG,Li B,et al. Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory[J]. Science China Information Sciences,2015,58(3):1-13.
APA Guo X,Ma SG,Li B,Wang MH,&Wang YC.(2015).Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory.Science China Information Sciences,58(3),1-13.
MLA Guo X,et al."Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory".Science China Information Sciences 58.3(2015):1-13.
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