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A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2018, 卷号: 23, 期号: 3, 页码: 1249-1258
Authors:  Guo X(郭宪);  Ma SG(马书根);  Li B(李斌);  Fang YC(方勇纯)
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Differential Geometry  Geometric Modeling  Mobile Robot Motion-planning  Robot Kinematics  
Adaptive controller design for underwater snake robot with unmatched uncertainties 期刊论文
SCIENCE CHINA-INFORMATION SCIENCES, 2016, 卷号: 59, 期号: 5, 页码: 1-15
Authors:  Zhang AF(张安翻);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Guo X(郭宪);  Wang YC(王越超)
View  |  Adobe PDF(1027Kb)  |  Favorite  |  View/Download:330/44  |  Submit date:2016/06/21
Underwater Snake-like Robot  Adaptive Control  Simplified System  Piecewise Constant Law  Unmatched Uncertainties  Underactuated Robots  
基于纤维丛理论的二维蛇形机器人建模与控制方法研究 学位论文
博士, 沈阳: 中国科学院沈阳自动化研究所, 2015
Authors:  郭宪
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蛇形机器人  多体动力学  几何力学建模  微分几何  步态控制  
Simulation study on serpentine locomotion of underwater snake-like robot 期刊论文
International Journal of Control and Automation, 2015, 卷号: 8, 期号: 1, 页码: 373-384
Authors:  Lv YH(吕艳辉);  Li L(李立);  Wang MH(王明辉);  Guo X(郭宪)
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Snake-like Robot  Density Ratio  Gait Parameters  Motion Performance  Simulation  
基于微分几何的蛇形机器人动力学与控制统一模型 期刊论文
中国科学:信息科学, 2015, 卷号: 45, 期号: 8, 页码: 1080-1094
Authors:  郭宪;  马书根;  李斌;  王明辉;  王越超
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蛇形机器人  非完整约束  微分几何  动力学与控制  纤维丛  
基于动力学与控制统一模型的蛇形机器人速度跟踪控制方法研究 期刊论文
自动化学报, 2015, 卷号: 41, 期号: 11, 页码: 1847-1856
Authors:  郭宪;  马书根;  李斌;  王明辉;  王越超
View  |  Adobe PDF(1191Kb)  |  Favorite  |  View/Download:279/63  |  Submit date:2015/12/08
蛇形机器人  速度跟踪  动力学  奇异位形  微分几何  
Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory 期刊论文
Science China Information Sciences, 2015, 卷号: 58, 期号: 3, 页码: 1-13
Authors:  Guo X(郭宪);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Wang YC(王越超)
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Snake-like Robot  Redundant Torque  Fiber Bundle Theory  Nonholonomic  Optimal Control  
蛇形机器人水下3D运动建模与仿真 期刊论文
机器人, 2015, 卷号: 37, 期号: 3, 页码: 336-342
Authors:  李立;  王明辉;  李斌;  吕艳辉;  郭宪
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水下蛇形机器人  力学模型  水动力  仿真分析  
Optimal turning gait for a three-link underwater robot 会议论文
2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), Shenyang, China, June 8-12, 2015
Authors:  Guo X(郭宪);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Wang YC(王越超)
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Locomotion control of a snake-like robot based on velocity disturbance 会议论文
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, December 5-10, 2014
Authors:  Guo X(郭宪);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉)
View  |  Adobe PDF(455Kb)  |  Favorite  |  View/Download:151/43  |  Submit date:2015/07/05