2台のヘビ型ロボットの協調制御 Cooperative Control of Two Snake-Like Robots
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.
- 日本ロボット学会誌 = Journal of Robotics Society of Japan
日本ロボット学会誌 = Journal of Robotics Society of Japan 24(3), 400-407, 2006-04-15
The Robotics Society of Japan