DocumentCode
529683
Title
A squeezing control for snake-like robots to climb up trees
Author
Suzuki, Yuta ; Iwase, Masami ; Sadahiro, Teruyosho ; Hatakeyama, Shoshiro
Author_Institution
Dept. of Robot. & Mechatron., Tokyo Denki Univ., Tokyo, Japan
fYear
2010
fDate
18-21 Aug. 2010
Firstpage
1862
Lastpage
1867
Abstract
The purpose of this study is to realize a control method of snake-like robots in order to climb up trees. The control method is able to divide into locomotion controls on a tree trunk and staying controls to avoid falling off. This paper shows the force for squeezing a tree trunk to avoid falling off is calculated by the relationship between the actuator torque and the friction force at each link which can be derived according to Projection Method. The effectiveness of the proposed method is verified by a numerical simulation.
Keywords
mobile robots; motion control; numerical analysis; friction force; locomotion controls; numerical simulation; projection method; snake-like robots; squeezing control; trees; Coils; Equations; Force; Mathematical model; Robot kinematics; Torque; Constraint Condition; Projection Method; Snake-like Robot;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference 2010, Proceedings of
Conference_Location
Taipei
Print_ISBN
978-1-4244-7642-8
Type
conf
Filename
5603044
Link To Document