• DocumentCode
    115221
  • Title

    Direction following control of planar snake robots using virtual holonomic constraints

  • Author

    Mohammadi, Alireza ; Rezapour, Ehsan ; Maggiore, Manfredi ; Pettersen, Kristin Y.

  • Author_Institution
    Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada
  • fYear
    2014
  • fDate
    15-17 Dec. 2014
  • Firstpage
    3801
  • Lastpage
    3808
  • Abstract
    This paper investigates the problem of direction following for planar snake robots. The control objective is to regulate the linear velocity vector of the snake robot to a constant reference while guaranteeing boundedness of the system states. The proposed feedback control strategy enforces virtual constraints encoding a lateral undulatory gait, parametrized by states of dynamic compensators used to regulate the orientation and forward speed of the snake robot.
  • Keywords
    biomimetics; mobile robots; direction following control; dynamic compensators; feedback control strategy; forward speed; planar snake robots; system states; undulatory gait; virtual constraints; virtual holonomic constraints; Control systems; Friction; Joints; Manifolds; Robot kinematics; Vectors;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
  • Conference_Location
    Los Angeles, CA
  • Print_ISBN
    978-1-4799-7746-8
  • Type

    conf

  • DOI
    10.1109/CDC.2014.7039981
  • Filename
    7039981
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=115221