Title :
Redundancy controllable system and control of snake robots based on kinematic model
Author :
Matsuno, Fumitoshi ; Mogi, Kazutaka
Author_Institution :
Dept. of Comput. Intelligence & Syst. Sci., Tokyo Inst. of Technol., Yokohama, Japan
Abstract :
We define the redundancy controllable system of hyper-redundant mechanical systems. We derive the condition that the hyper-redundant snake robots become redundancy controllable, and the control law considering the redundancy. We also propose the concept of a unit and the system design strategy of the snake robots. Simulation results are shown
Keywords :
matrix algebra; mobile robots; redundancy; robot kinematics; hyper-redundant mechanical systems; kinematic model; redundancy controllable system; snake robots; system design strategy; Computational intelligence; Control system synthesis; Control systems; Cost function; Intelligent robots; Kinematics; Mobile robots; Robot control; Robot sensing systems; Shape control;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2001.914686
