Dynamic modeling for locomotion-manipulation of a snake-like robot by using geometric methods

Author

Wang, Zhifeng ; Li, Bin ; Bin Li ; Ma, Shugen

Author_Institution

State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang, China

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

3631

Lastpage

3636

Abstract

A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe the mechanism and the kinematics of the robot. The dynamics of the robot are established in a Riemannian manifold. Furthermore, the dynamics of manipulation can be directly degenerated from those of locomotion. This method unifies the dynamics of locomotion and manipulation of the snake-like robot in the differential geometry formulation. Finally, simulation results of the method are presented.

Keywords

differential geometry; legged locomotion; manipulator dynamics; manipulator kinematics; Riemannian manifold; differential geometry formulation; dynamic modeling; geometric methods; locomotion dynamics; locomotion-manipulation; product-of-exponentials formula; robot dynamics; robot kinematics; snake-like robot; Computational geometry; Equations; Intelligent robots; Manipulator dynamics; Orbital robotics; Robot kinematics; Robotics and automation; Service robots; Solid modeling; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354838

Filename

5354838