Path tracking control of a snake robot with a passive joint

被引：3
|
作者：
Sakakibara, Kazunori [1 ]
Ariizumi, Ryo [1 ]
Asai, Toru [1 ]
Azuma, Shun-ichi [1 ]
机构：
[1] Nagoya Univ, Grad Sch Engn, Nagoya, Japan
来源：
ADVANCED ROBOTICS | 2023年 / 37卷 / 07期
关键词：
Path following; snake robots; actuator failure;
D O I：
10.1080/01691864.2022.2163186
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The highly redundant nature of a snake robot will enable the robot to complete its task even with a passive joint caused by an actuator failure. However, existing control methods cannot be applied to a snake robot with a passive joint. This paper proposes a control law that achieves linear path-following control of a snake robot with a passive joint. The effectiveness of our control method is shown via numerical simulation and experiment.
引用
收藏
页码：447 / 457
页数：11
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