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Locomotion control of a snake-like robot based on velocity disturbance
Guo X(郭宪); Ma SG(马书根); Li B(李斌); Wang MH(王明辉)
Department机器人学研究室
Conference Name2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Conference DateDecember 5-10, 2014
Conference PlaceBali, Indonesia
Author of SourceHarbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems
Source Publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages582-587
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152100876801
WOS IDWOS:000380399500096
Contribution Rank1
ISBN978-1-4799-7396-5
AbstractThis paper presents a novel method based on the velocity disturbance to control the locomotion of a snake-like robot. The inputs are joint torques which are derived from the dynamics equations. The traditional dynamics equations of a snake-like robot are complex, so a simplified dynamics equations are firstly derived based on the differential geometry theory. Then the velocity disturbance is introduced to the simplified dynamics equation and the control method is proposed. The locomotion gait of the snake-like robot is decided by the velocity disturbance. So controlling the velocity disturbance can control the locomotion of the snake-like robot. This method can also avoid the singular posture of the snake-like robot. The numerical simulation results present that the proposed method can control the locomotion of the snake-like robot.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/16117
Collection机器人学研究室
Corresponding AuthorGuo X(郭宪)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation
2.University of Chinese Academy of Sciences
3.Ritsumeikan University, Shiga-ken, 525-8577, Japan
Recommended Citation
GB/T 7714
Guo X,Ma SG,Li B,et al. Locomotion control of a snake-like robot based on velocity disturbance[C]//Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems. Piscataway, NJ, USA:IEEE,2014:582-587.
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