DocumentCode
2422537
Title
Modeling and control of snake-like robot to move in the tube
Author
Shell, Michael ; Kasahara, Makito ; Ynagida, Takeru ; Iwase, Masami
Author_Institution
Dept. of Robot. & Mechatron., Tokyo Denki Univ., Tokyo, Japan
fYear
2015
fDate
6-8 March 2015
Firstpage
488
Lastpage
493
Abstract
The purpose of this study is to realize driving of snake-like robot in a tube. The modeling of the snake-like robot in a tube is important for design the driving control. Hence the model is described by Projection Method. The driving control is derived by State Dependent Riccati Equation based on the model. Numerical simulations present the snake-like robot can drive in a tube as its head position is converged to the origin.
Keywords
Riccati equations; control system synthesis; mobile robots; motion control; pipes; position control; driving control design; head position; numerical simulations; projection method; snake-like robot control; snake-like robot driving; snake-like robot modeling; state dependent Riccati equation; tube; Decision support systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics (ICM), 2015 IEEE International Conference on
Conference_Location
Nagoya
Type
conf
DOI
10.1109/ICMECH.2015.7084025
Filename
7084025
Link To Document