NDLI: Using a planar snake robot as a robotic arm taking into account the lack of a fixed base: Feasible region

Content Provider	IEEE Xplore Digital Library
Author	Reyes, F. Wenbin Tang Shugen Ma
Copyright Year	2015
Description	Author affiliation: Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan (Reyes, F.; Shugen Ma)
Abstract	Snake robots are highly redundant robots that could potentially be used as robotic arms, allowing them to interact with the environment. However they do not have a fixed base, making them difficult to control accurately. In this paper, a complete modeling approach and an optimization algorithm are presented that show the torques that allow a snake robot to track a trajectory while keeping one of its links from slipping. To do this, it is essential to consider the static friction between the ground and a snake robot. The forces of static friction are modeled as bounded constraints, in a similar fashion as the constraint forces studied in grasping with robotic hands. Simulations are carried out to analyze the problem.
Starting Page	956
Ending Page	962
File Size	1676792
Page Count	7
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7353486
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Robot kinematics Mobile robots Manipulators Grasping Dynamics optimization snake robot trajectory tracking
Content Type	Text
Resource Type	Article

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Using a planar snake robot as a robotic arm taking into account the lack of a fixed base: Feasible region