NDLI: Body shape and orientation control for locomotion of biologically-inspired snake robots

Content Provider	IEEE Xplore Digital Library
Author	Rezapour, E. Pettersen, K.Y. Gravdahl, J.T. Liljeback, P.
Copyright Year	2014
Description	Author affiliation: Dept. of Eng. Cybern., SINTEF ICT, Trondheim, Norway (Liljeback, P.) \|\| Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway (Rezapour, E.; Pettersen, K.Y.; Gravdahl, J.T.)
Abstract	This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic feedback control law for the joints of the robot to track a desired gait pattern. This tracking control law depends on the time evolution of the state variables of a dynamic compensator which is used for controlling the orientation of the robot. In particular, we employ the dynamic compensator to practically stabilize a reference head angle defined by a Line-of-Sight path following guidance law. Using an input-output stability analysis, we show the uniform boundedness of the solutions of the controlled system. Furthermore, we use a perturbation analysis to show that the orientation error is ultimately bounded by an arbitrarily small bound. Simulation results are presented to validate the theoretical results.
Starting Page	993
Ending Page	1000
File Size	497271
Page Count	8
File Format	PDF
ISBN	9781479931262
ISSN	21551774
e-ISBN	9781479931286
DOI	10.1109/BIOROB.2014.6913910
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-12
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control design Friction Vectors Mobile robots Joints Equations
Content Type	Text
Resource Type	Article

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