Locomotion control of a snake-like robot based on dynamic manipulability

被引：0
作者：
Date, H [1 ]
Hoshi, Y [1 ]
Sampei, M [1 ]
机构：
[1] Tokyo Inst Technol, Meguro Ku, Tokyo 1528552, Japan
来源：
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS | 2000年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper we discuss an autonomous locomotion control of a snake-like articulated robot with passive wheels. Such a robot has quite different mechanism in locomotion from that of other locomotion systems, namely, it has no driving wheel and moves only by bending its body. Hence the locomotability depends on its posture. In order to evaluate the locomotability, we utilize and a notion of dynamic manipulability which has been applied to robot manipulator. We also propose a simple controller based on this manipulability. Simulation results show that a certain periodic winding motion is automatically generated.
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页码：2236 / 2241
页数：6
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