Abstract
In this paper, we propose a new approach to the locomotion control of the trident snake robot, focusing on its “double-linked” case where the robot is composed of a triangular body and three branches of double-linked snakelike legs. Originally, this robot was proposed by the authors as a novel example of nonholonomic mobile robot. This robot is quite interesting from a theoretical point of view; the well-known LARC(Lie Algebra Rank Condition) for its nonlinear controllability has a unique structure that it contains two ‘generator’ vector-fields and higher order Lie brackets, which makes its control problem extremely challenging. In this paper, for this difficult control problem, we first propose a design algorithm which partially achieves the desired locomotion. Then we discover that the resulting motion may or may not be a stable limit cycle, depending on the eigenvalues of the corresponding discrete-time dynamics on its Poincare map. Finally, we propose a full controller design by combining the stable limit cycles. The validity of the proposed idea is examined by numerical simulations.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: Transactions of the Society of Instrument and Control Engineers
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.