Dynamic Modeling for Locomotion-manipulation of a Snake-like Robot by Using Geometric Methods

被引：1

作者：

Wang, Zhifeng ^{[1
]}

Ma, Shugen ^{[1
]}

Li, Bin ^{[1
]}

Wang, Yuechao ^{[1
]}

机构：

[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

D O I：

10.1109/IROS.2009.5354838

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe the mechanism and the kinematics of the robot. The dynamics of the robot are established in a Riemannian manifold. Furthermore, the dynamics of manipulation can be directly degenerated from those of locomotion. This method unifies the dynamics of locomotion and manipulation of the snake-like robot in the differential geometry formulation. Finally, simulation results of the method are presented.

引用

页码：3631 / 3636

页数：6

共 10 条

[1] Discretization of a continuous curve [J].

Andersson, Sean B. .

IEEE TRANSACTIONS ON ROBOTICS, 2008, 24 (02) :456-461

[2]

Frankel T., 2004, The Geometry of Physics: An Introduction, V2nd

[3]

Hirose S., 1993, Biologically Inspired Robots: Snake-like Locomotors and Manipulators

[4]

LILJEBACK P, 2005, P 16 IFAC WORLD C JU

[5] Analysis of creeping locomotion of a snake-like robot [J].

Ma, SG .

ADVANCED ROBOTICS, 2001, 15 (02) :205-224

[6]

Murray R. M., 1994, A Mathematical Introduction to Robotic Manipulation, V1st

[7] A LIE GROUP FORMULATION OF ROBOT DYNAMICS [J].

PARK, FC ;

BOBROW, JE ;

PLOEN, SR .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1995, 14 (06) :609-618

[8] Serpentine locomotion with robotic snakes [J].

Saito, M ;

Fukaya, M ;

Iwasaki, T .

IEEE CONTROL SYSTEMS MAGAZINE, 2002, 22 (01) :64-81

[9]

Zefran M., 2005, ROBOTICS AUTOMATION

[10]

[No title captured]

← 1 →