Abstract
In this paper, we derive a dynamic model and a control law for cooperative task of two snake-like robots which have wheeled links and demonstrate the validity of proposed controller by simulation and experiment. First, we derive a dynamic model of single snake-like robot with redundancy by introducing the shape controllable points. Next, we extend it to the model for the cooperative task of two redundant snake-like robots and propose a control law to accomplish this task. Finally, in order to demonstrate the validity of the derived model and effectiveness of the proposed control law, simulation and experiment are carried out.
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