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A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry
Wang ZF(王智锋); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
Department机器人学研究室
Source PublicationSCIENCE CHINA-INFORMATION SCIENCES
ISSN1674-733X
2011
Volume54Issue:2Pages:318-333
Indexed BySCI ; EI
EI Accession number20132816485507
WOS IDWOS:000287703200010
Contribution Rank1
Funding OrganizationThis work was supported by the Knowledge Innovation Program of the Chinese Academy of Sciences (Grant No. 07A1200101), and the National High-Tech Research & Development Program of China(Grant No. 2006AA04Z254).
KeywordSnake-like Robot Dynamics Unified Model Differential Geometry Locomotion Manipulation
AbstractA snake-like robot, whose body is a seried-wound articulated mechanism, can move in various environments. In addition, when one end is fixed on a base, the robot can manipulate objects. A method of dynamic modeling for locomotion and manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. The transformation from locomotion to manipulation is a mechanism reconfiguration, that is, the robot in locomotion has not a fixed base, but it in manipulation has one. First, a virtual structure method unifies the two states in mechanism (e.g., an embedding in the configuration space); second, the product-of-exponentials formula describes the kinematics; third, the dynamics of locomotion and manipulation are established in a Riemannian manifold; finally, based on the analysis of the dynamic model, the dynamics of manipulation can be directly degenerated from those of locomotion, and this degeneration relation is proved through using the Gauss equations. In the differential geometry formulation, this method realizes the unification of the dynamics of locomotion and manipulation. According to a geometrical point of view, the unified dynamic model for locomotion and manipulation is considered as a submanifold problem endowed with geometric meaning. In addition, the unified model offers an insight into the dynamics of the snake-like robot beyond the dynamic model separately established for locomotion or manipulation.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectComputer Science, Information Systems
WOS Research AreaComputer Science
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7292
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan
3.Graduate University of Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Wang ZF,Ma SG,Li B,et al. A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry[J]. SCIENCE CHINA-INFORMATION SCIENCES,2011,54(2):318-333.
APA Wang ZF,Ma SG,Li B,&Wang YC.(2011).A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry.SCIENCE CHINA-INFORMATION SCIENCES,54(2),318-333.
MLA Wang ZF,et al."A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry".SCIENCE CHINA-INFORMATION SCIENCES 54.2(2011):318-333.
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