Point-to-Point Feedback Control of a Trident Snake Robot

• ISHIKAWA Masato

  Graduate School of Informatics, Kyoto University

• MINAMI Yuki

  Graduate School of Informatics, Kyoto University

• SUGIE Toshiharu

  Graduate School of Informatics, Kyoto University

Bibliographic Information

Other Title

• 三叉ヘビ型ロボットのＰｏｉｎｔ‐ｔｏ‐Ｐｏｉｎｔフィードバック制御
• ミツマタ ヘビガタ ロボット ノ Point to Point フィードバック セイギョ

Abstract

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.

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 20 (2), 69-75, 2007

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• nonholonomic system
• nonlinear system
• mobile robot

Details

• CRID: 1390282680142357120
• NII Article ID: 10022000106
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.20.69
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 8634302
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8634302
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed