Passive Creeping of a Snake-like Robot
The control of a snake-like robot is a challenging problem because of the complex dynamics. In this paper, we present a novel method, called passive creeping, to control the serpentine locomotion of the snake-like robot. The kernel of this method is composed of the following two concepts: 1) dynamic shift brings the tendency toward the serpentine locomotion; and 2) energy links the environments and the dynamics with the control law based on passivity. The head module leads the movement, and the body modules push the robot forward. The movement is a dynamic process from an unordered state to an ordered state, and the maximal Lyapunov exponent explicates the orbital stability of the movement in the phase space. Especially, the snake-like robot can adapt to the environments with different friction coef.cients according to the dynamic state not the environment information. The validity and adaptability of the method is studied through simulations.
Zhifeng Wang Shugen Ma Bin Li Yuechao Wang
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya Department of Robotics,Ritsumeikan University,Shigaken 525-8577,Japan State Key Laboratory of Roboti State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
57-62
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）