Path tracking control of a snake robot with a passive joint. (3rd April 2023)

• Record Type: Journal Article
• Authors: Sakakibara, Kazunori; Ariizumi, Ryo; Asai, Toru; Azuma, Shun-ichi
• Is Part Of: Advanced robotics. Volume 37:Number 7(2023)
• Page Start: 447
• Page End: 457
• Publication Date: 2023-04-03
• Subjects: Path following -- snake robots -- actuator failure; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2022.2163186
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : The highly redundant nature of a snake robot will enable the robot to complete its task even with a passive joint caused by an actuator failure. However, existing control methods cannot be applied to a snake robot with a passive joint. This paper proposes a control law that achieves linear path-following control of a snake robot with a passive joint. The effectiveness of our control method is shown via numerical simulation and experiment. GRAPHICAL ABSTRACT: UF0001