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Passive creeping of a snake-like robot
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
Conference Name2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference DateDecember 19-23, 2009
Conference PlaceGuilin, China
Author of SourceIEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong
Source Publication2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
2009
Pages57-62
Indexed ByEI ; CPCI(ISTP)
EI Accession number20101712894783
WOS IDWOS:000285530500010
Contribution Rank1
ISBN978-1-4244-4775-6
AbstractThe control of a snake-like robot is a challenging problem because of the complex dynamics. In this paper, we present a novel method, called passive creeping, to control the serpentine locomotion of the snake-like robot. The kernel of this method is composed of the following two concepts: 1) dynamic shift brings the tendency toward the serpentine locomotion; and 2) energy links the environments and the dynamics with the control law based on passivity. The head module leads the movement, and the body modules push the robot forward. The movement is a dynamic process from an unordered state to an ordered state, and the maximal Lyapunov exponent explicates the orbital stability of the movement in the phase space. Especially, the snake-like robot can adapt to the environments with different friction coefficients according to the dynamic state not the environment information. The validity and adaptability of the method is studied through simulations.
Language英语
Citation statistics
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8823
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.Graduate University of Chinese Academy of Sciences, Beijing 100039, China
3.Department of Robotics, Ritsumeikan University, Shigaken 525-8577, Japan
Recommended Citation
GB/T 7714
Wang ZF,Ma SG,Li B,et al. Passive creeping of a snake-like robot[C]//IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong. Piscataway, NJ, USA:IEEE Computer Society,2009:57-62.
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