Snake Robot Locomotion in Environments With Obstacles

被引：53

作者：

Liljeback, Pal ^{[1
,2
]}

Pettersen, Kristin Y. ^{[1
]}

Stavdahl, Oyvind ^{[1
]}

Gravdahl, Jan Tommy ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol NTNU, Dept Engn Cybernet, NO-7491 Trondheim, Norway

[2] SINTEF ICT, Dept Appl Cybernet, N-7465 Trondheim, Norway

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2012年 / 17卷 / 06期

关键词：

Contact modeling; force and tactile sensing; underactuated robots; STABILITY;

D O I：

10.1109/TMECH.2011.2159863

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

As a step toward enabling snake robots to move in cluttered environments, this paper proposes a control strategy that combines environment adaptation with directional control in order to achieve straight line path following control in environments with obstacles. Moreover, the paper presents the design of a mechanical snake robot with tactile sensing capabilities that allow the robot to sense its environment. Experimental results are presented where the snake robot is successfully propelled through different obstacle environments with the proposed control strategy.

引用

页码：1158 / 1169

页数：12

共 24 条

[1]

ack P. Liljeb, 2011, IEEE T ROBOT UNPUB

[2] Control of a snake-like robot in an elastically deformable channel [J].