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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)
Department机器人学研究室
Source PublicationScience China Information Sciences
ISSN1674-733X
2015
Volume58Issue:3Pages:1-13
Indexed BySCI ; EI ; CSCD
EI Accession number20150700511576
WOS IDWOS:000349811500014
CSCD IDCSCD:5386558
Contribution Rank1
KeywordSnake-like Robot Redundant Torque Fiber Bundle Theory Nonholonomic Optimal Control
AbstractFor 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
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectComputer Science, Information Systems
WOS KeywordLOCOMOTION ; MECHANICS
WOS Research AreaComputer Science
Citation statistics
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15748
Collection机器人学研究室
Corresponding AuthorWang MH(王明辉)
Affiliation1.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
Recommended Citation
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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