Title :
Linear approximation model for snake robots and its application
Author :
Ikeda, Kenji ; Hatanaka, Yoko ; Shimomura, Takao
Author_Institution :
Univ. of Tokushima, Tokushima, Japan
Abstract :
This paper proposes a modeling method of snake robots and analyzes the obtained model. Regarding the snake robot as a periodic system, a discrete-time linearized approximation model is obtained based on lifting technique and Fourier series expansion. PI-MOESP type subspace model identification method is applied for obtaining the model. Hankel singular values of the obtained model are anlyzed and some remarks are given for the selection of the control input.
Keywords :
Fourier series; approximation theory; discrete time systems; mobile robots; Fourier series expansion; Hankel singular values; PI-MOESP type subspace model identification method; discrete-time linearized approximation model; lifting technique; linear approximation model; modeling method; periodic system; snake robots; Analytical models; Linear approximation; Mathematical model; Numerical models; Robot kinematics; Tuning; Lifting; Periodic systems; Snake robot; Subspace identification method;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
