Title :
Control and analysis of the gait of snake robots
Author :
Prautsch, P. ; Mita, T.
Author_Institution :
Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan
Abstract :
Snake´s gait enables it to climb a hill or wind up a tree and climbing. Hirose (1987) has long investigated the motion of snakes and made several snake robots. He also showed that the trace of the snake body draws the so called “serpenoid curve”. However, the control of the position of the snake head was shown to be difficult. In this paper, we show the dynamical position control of the snake robot and discuss the effect of constraining the trace of the head to a “serpenoid curve”
Keywords :
Lyapunov methods; control system analysis; mobile robots; motion control; nonlinear systems; position control; robot dynamics; Lyapunov method; gait analysis; mobile robots; motion control; nonholonomic system; position control; serpenoid curve; snake robots; Capacitive sensors; Character generation; Control systems; Control theory; Creep; Legged locomotion; Mobile robots; Muscles; Position control; Wheels;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.806692
