Motion control of a snake robot moving between two non-parallel planes. (19th May 2018)

• Record Type: Journal Article
• Authors: Nakajima, Mizuki; Tanaka, Motoyasu; Tanaka, Kazuo; Matsuno, Fumitoshi
• Is Part Of: Advanced robotics. Volume 32:Number 10(2018)
• Page Start: 559
• Page End: 573
• Publication Date: 2018-05-19
• Subjects: Snake robot -- slope -- redundancy -- trajectory tracking; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2018.1458653
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract: A control method that makes the head of a snake robot follow an arbitrary trajectory on two non-parallel planes, including coexisting sloped and flat planes, is presented. We clarify an appropriate condition of contact between the robot and planes and design a controller for the part of the robot connecting the two planes that satisfies the contact condition. Assuming that the contact condition is satisfied, we derive a simplified model of the robot and design a controller for trajectory tracking of the robot's head. The controller uses kinematic redundancy to avoid violating the limit of the joint angle and a collision between the robot and the edge of a plane. The effectiveness of the proposed method is demonstrated in experiments using an actual robot. Abstract :