ねじ推進ヘビ型ロボットの先頭追従制御  [in Japanese] Front-Unit-Following Control of a Snake-like Robot Using Screw Drive Mechanism  [in Japanese]

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Author(s)

Abstract

This paper presents a front-unit-following control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 28(6), 707-714, 2010-07-15

    The Robotics Society of Japan

References:  11

Cited by:  1

Codes

  • NII Article ID (NAID)
    10026495963
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    10778691
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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