Study on the Optimal Passive Creeping Control of the Snake-like Robot

被引：0
作者：
Zhang, Danfeng [1 ,3 ]
Wu, Chengdong [1 ,2 ]
Li, Bin [1 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Peoples R China
[2] Northeastern Univ, Coll Informat Sci & Engn, Shenyang, Peoples R China
[3] Chinese Acad Sci, Grad Sch, Beijing, Peoples R China
来源：
PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012) | 2012年
基金：
中国国家自然科学基金;
关键词：
snake-like robot; avoid slipping; optimal torque;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Reducing the energy dissipation can improve the movement efficiency of a snake-like robot. Avoiding side slipping is the main way to reduce the energy dissipation. A creeping control method for the snake-like robot, named optimal passive creeping, is proposed. This method makes the robot avoid slipping by inputting the proper torque which is adjusted by its body shape. The purpose of the control method is to insure that the snake-like robot's velocity is the fastest before side slipping. In simulation, the angles, torques, energy states of the snake-like robot are revealed, and whether the snake-like robot has slipped is analyzed by accumulating the energy dissipation. The simulations demonstrate the validity of the optimal passive creeping control method.
引用
收藏
页码：99 / 103
页数：5
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