Locomotion Control Of Snake-like Robot Research Articles

Locomotion Control of Snake-like Robot utilizing Friction Forces: Stability Verification of Model Following Servo Controller

Locomotion Control of Snake-like Robot utilizing Friction Forces: Stability Verification of Model Following Servo Controller

Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer

The purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels of the snake-like robot have a chance of side-slipping. To locomote the snake-like robot dexterously, a control system which adapts to such side-slipping is desired. There are two key points to realizing such a system: First, a dynamic model capable of representing the passive side-slipping must be formulated. A solution for the first key point is to develop a switching dynamic model for the snake-like robot, which switches depending on the occurrence of the side-slipping, by utilizing a projection method. The second key point is to adapt the control system’s behavior to side-slipping. An idea for such a solution is to include the side-slipping velocity in the weighting matrices. An algorithm to estimate the occurrence of side-slipping and the particular side-slipping link is constructed, to formulate the dynamic model depending on the actual side-slipping situation. The effectiveness of the designed Luenberger observer and the head control system for side-slipping adaptation is verified through numerical simulation.

Locomotion Control of Snake-like Robot on Geometrically Smooth Surface

A locomotion control of a snake-like robot on geometrically smooth surface is developed. To design the motion control, a mathematical model of the snake-like robot is derived by Projection Method (PJ method). Utilizing PJ method leads not only the mathematical model but also the constraints applied to the robot. The constraints give important information on the smooth surface. State-Dependent Riccati Equation (SDRE) control strategy taking the constraints into account realizes locomotion on the smooth surface for the snake-like robot. The effectiveness of the proposed method is verified through numerical simulations in which the snake-like robot is twining around and climbing a column.