Trident Snake Robot Research Articles

Nilpotent approximation of a trident snake robot controlling distribution

Nilpotent approximation of a trident snake robot controlling distribution

Geometric Control of the Trident Snake Robot Based on CGA

We demonstrate the theory on the 1-link trident snake and the functionality in the CLUCalc software designed for the computations in Clifford algebra. Local control of a general trident snake robot is solved by means of conformal geometric algebra. It is shown that the model modifications are much easier to handle in this setting. Within this paper, we present an alternative model description only, while all its kinematic properties remain. The equations of the direct and differential kinematics, the Pfaff constraints, the inverse kinematics and the singular postures are discussed and translated into the language of CGA.

1P1-N03 神経振動子の外生刺激を利用した三叉ヘビロボットの移動方向制御(特殊移動ロボット(1))

1P1-N03 神経振動子の外生刺激を利用した三叉ヘビロボットの移動方向制御(特殊移動ロボット(1))

Dynamics and Motion Planning of Trident Snake Robot

The trident snake robot is a mechanical device that serves as a demanding testbed for motion planning and control algorithms of constrained non-holonomic systems. This paper provides the equations of motion and addresses the motion planning problem of the trident snake with dynamics, equipped with either active joints (undulatory locomotion) or active wheels (wheeled locomotion). Thanks to a partial feedback linearization of the dynamics model, the motion planning problem basically reduces to a constrained kinematic motion planning. Two kinds of constraints have been taken into account, ensuring the regularity of the feedback and the collision avoidance between the robot’s arms and body. Following the guidelines of the endogenous configuration space approach, two Jacobian motion planning algorithms have been designed: the singularity robust Jacobian algorithm and the imbalanced Jacobian algorithm. Performance of these algorithms have been illustrated by computer simulations.

Multiple-task motion planning of non-holonomic systems with dynamics

Abstract. This paper addresses the motion planning problem in non-holonomic robotic systems. The system's kinematics and dynamics are represented as a control affine system with outputs. The problem is defined in terms of the end-point map of this system, using the endogenous configuration space approach. Special attention is paid to the multiple-task motion planning problem, i.e. a problem that beyond the proper motion planning task includes a number of additional tasks. For multiple-task motion planning two strategies have been proposed, called the egalitarian approach and the prioritarian approach. Also, two computational strategies have been launched of solving the motion planning problem: the parametric and the non-parametric. The motion planning and computational strategies have been applied to a motion planning problem of the trident snake robot. Performance of the motion planning algorithms is illustrated with computer simulations.

Feedback Control Experiment of Double-Linked Trident Snake Robot

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.

2A1-P04 三叉ヘビロボットの分散型制御(特殊移動ロボット(1))

The trident snake robot is an example of wheeled mobile robot whose dynamics is described as a nonholonomic kinematic equation with three control inputs and six state variables. In contrast to the authors' previous works on locomotion control for this robot with centralized control, this paper challenges to achieve locomotion with decentralized control, that each system has own controller, by using oscillators. We examined motion generation of the proposed idea by passive spring joint and neural oscillator networks.

Experiment of Dynamic Feedback of the Trident Snake Robot with Transverse Function Approach

Experiment of Dynamic Feedback of the Trident Snake Robot with Transverse Function Approach

Motion planning of the trident snake robot equipped with passive or active wheels

Abstract We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.

Motion planning of the double-link trident snake robot

This paper addresses the motion planning problem of the trident snake robot consisting of a triangular body equipped with 2-link branches with actuated joints. The kinematics of the robot are represented by a driftless control system referred to as body controlled. This system converts to joint controlled after applying a feedback transformation. A two step motion planning strategy has been proposed to provide the joint control of the robot. First, a constrained motion planning problem is solved for the body control, preventing the feedback from getting singular, second the joint control is achieved by combining the body control with the feedback. It has been shown that the former step can be accomplished using the imbalanced Jacobian motion planning algorithm. The motion planning strategy is illustrated by computer simulations.

2P1-E02 三叉ヘビロボットを題材としたデザイン教育(ものづくり教育・メカトロニクスで遊ぶ(2))

2P1-E02 三叉ヘビロボットを題材としたデザイン教育(ものづくり教育・メカトロニクスで遊ぶ(2))

Development and Control Experiment of the Trident Snake Robot

This paper is concerned with the development of the trident snake robot , a new example of nonholonomic mobile robot proposed by the authors. The robot has three-pointed shape composed of a center block and three branches, each of which has a passive nonslide wheel. It is modeled as a nonnilpotent driftless system with two generators; its control is a challenging problem, not only because it cannot be treated by continuous control law, but because it cannot be converted to any easy class of nonholonomic systems such as chained form. In this paper, we realized the one-link trident snake robot and applied a periodic control algorithm based on Lie bracket motion. Effectiveness of the proposed algorithm is examined with control experiments.

Control of the Double-linked Trident Snake Robot Based on the Analysis of Its Oscillatory Dynamics

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.

Rapid Prototyping for Control Education using Arduino and Open-Source Technologies

In this article, we introduce our recent development of small-sized experimental devices for control research and education, with a special focus on the use of open-source technologies such as Arduino and Processing. Arduino is a pronominal open-source hardware whose architecture, implementation and other necessary resources are accessible to every users, while Processing is its software counterpart which supports rapid development of controller/interface programs without much expertise. We demonstrate their advantage with a kinematic nonholonomic system called the trident snake robot and an under-actuated mechanical system called the inverted unicycle robot.

三叉ヘビ型ロボットのＰｏｉｎｔ‐ｔｏ‐Ｐｏｉｎｔフィードバック制御

This paper is concerned with point-to-point feedback control of a trident snake robot. The robot is proposed in our recent work as a new example of nonholonomic systems with two generators. In this paper, a new feedforward type periodic algorithm is proposed to achieve smooth and quantitative locomotion of the robot. Then, a periodic feedback control method is also given which drives the state of the robot to a desired one. The proposed methods are examined by numerical simulations and experiments.

Trident snake robot: Locomotion analysis and control

In this paper, we propose a novel kind of wheeled mobile robot, called “trident snake robot”. From a viewpoint of nonlinear control theory, this robot is classified as a nonholonomic system with two generators and higher order Lie brackets, whose controllability structure is quite complicated (in comparison to chained systems, for example). Based on analysis of the controllability Lie algebra and corresponding holonomy, we clarify the locomotion principle of the robot and realize rotation and translation control using periodic inputs. The proposed method is illustrated by numerical simulations.