Hybrid control for a hyper-redundant robot

A new control algorithm for a hyper-redundant manipulator, which moves in a labyrinth and can touch the boundaries of the niche, is presented in this paper. The collisions or contacts are part of the task. The support-points from the walls help with the moving process. Initially, a study of the hyper-redundant locomotion by creeping and climbing is achieved. Also, the dynamic model by Lagrange method of the hyper-redundant robotic structure is established. Afterwards, a hybrid position/force controller for the hyper-redundant locomotion is proposed. Finally, the simulations of the hyper-redundant locomotion by climbing are presented.