Title :
Underactuated crawling robot
Author :
Ito, Kazuyuki ; Matsuno, Fumitoshi ; Takahashi, Rie
Author_Institution :
Dept. of Comput. Intelligence & Syst. Sci., Tokyo Inst. of Technol., Yokohama, Japan
Abstract :
Underactuated systems are those processing fewer actuators than degrees of freedom. Decrease of the number of actuators is a merit from the point of view of size and weight of the system. But generally it is difficult to control the underactuated system. In this paper we realize crawling motion by an underactuated robot. Control law based on partial feedback linearization is proposed and stability of the closed-loop system is discussed on the basis of zero dynamics. To demonstrate the effectiveness of the proposed controller experiments have been carried out
Keywords :
closed loop systems; feedback; linearisation techniques; mobile robots; stability; closed-loop system stability; partial feedback linearization; underactuated crawling robot; Actuators; Control systems; Gravity; Indium tin oxide; Leg; Legged locomotion; Linear approximation; Linear feedback control systems; Robot kinematics; Tail;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895214
