Title :
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
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;
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
DOI :
10.1109/IROS.2009.5354838
