Abstract
This paper focuses on the development and the feedback control of the trident snake robot which is an example of nonholonomic mobile robots. The robot is composed of a triangular body and three branches which have passive nonslide wheels. In this paper, we first develop a double-linked trident snake robot and its control experiment system. Then, we propose a feedback control algorithm for achieving rotation and translation motion of the robot by extending the feedforward control theory proposed in a previous work. Here, rotation motion is to change the orientation of the robot without changing position and joint angles; translation is to change the position of the robot by changing neither orientation nor joint angles. Finally, we evaluate the effectiveness of the proposed method by control experiments with the developed trident snake robot.
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