An autonomous locomotion control of a multi-joint snake-like robot with consideration of the dynamic manipulability

被引：0

作者：

Hoshi, Y ^{[1
]}

Sampei, M ^{[1
]}

Koga, M ^{[1
]}

机构：

[1] Tokyo Inst Technol, Tokyo 152, Japan

来源：

LAGRANGIAN AND HAMILTONIAN METHODS FOR NONLINEAR CONTROL | 2000年

关键词：

snake-like robot; dynamic manipulability; autonomous locomotion; singular posture; hyper-redundant systems;

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：

This paper discusses a locomotion control of a snake-like robot. This research utilizes a notion of manipulability to evaluate the locomotability. A proposed controller can make the robot autonomously locomote in a desired direction without decreasing the manipulability. This method realizes that the robot spontaneously generates its gait, thus any design of gaits are needed. Copyright (C) 2000 IFAC.

引用

页码：167 / 168

页数：2