Control of snake robots with switching constraints: trajectory tracking with moving obstacle
Control of snake robots with switching constraints: trajectory tracking with moving obstacle
复制标题
具有切换约束的蛇形机器人的控制：移动障碍物的轨迹跟踪
DOI：
10.1080/01691864.2013.867285
复制
发表时间：
2014
影响因子：
2
通讯作者：
F. Matsuno
中科院分区：
文献类型：
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作者：
Motoyasu Tanaka;F. Matsuno
我们提出了一个蛇机器人，可以根据运动学动态切换升降部件的控制。蛇在运动过程中举起身体的一部分，并动态地切换举起的部分：例如正弦举起和侧绕运动。这些特有的蛇类运动方式被用来在桑迪表面快速而有效地移动。然而，机器人的最佳运动不一定与真实的蛇的最佳运动相同，因为机器人的身体的特征不同于真实的蛇的身体的特征。针对蛇形机器人在二维平面上的三维运动，建立了数学模型，设计了控制器。我们的目标是通过选择身体的某些部分来完成有效的运动，这些部分要被抬起，而另一些部分要与地面保持接触。通过引入离散模态数，建立了具有切换约束的运动学模型。其次，我们提出了一种具有切换约束的轨迹跟踪控制策略，以降低成本函数，并满足静态稳定的条件。在本文中，我们引入了一个成本函数有关的避免奇异和移动障碍。仿真和实验验证了所提出的控制器和切换约束的有效性。图形摘要
We propose control of a snake robot that can switch lifting parts dynamically according to kinematics. Snakes lift parts of their body and dynamically switch lifting parts during locomotion: e.g. sinus-lifting and sidewinding motions. These characteristic types of snake locomotion are used for rapid and efficient movement across a sandy surface. However, optimal motion of a robot would not necessarily be the same as that of a real snake as the features of a robot’s body are different from those of a real snake. We derived a mathematical model and designed a controller for the three-dimensional motion of a snake robot on a two-dimensional plane. Our aim was to accomplish effective locomotion by selecting parts of the body to be lifted and parts to remain in contact with the ground. We derived the kinematic model with switching constraints by introducing a discrete mode number. Next, we proposed a control strategy for trajectory tracking with switching constraints to decrease cost function, and to satisfy the conditions of static stability. In this paper, we introduced a cost function related to avoidance of the singularity and the moving obstacle. Simulations and experiments demonstrated the effectiveness of the proposed controller and switching constraints. Graphical Abstract
DOI：
10.1109/iros.2004.1389445
发表时间：
2004-09
期刊：
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
影响因子：
--
作者：
Shugen Ma;Y. Ohmameuda;K. Inoue
通讯作者：
Shugen Ma;Y. Ohmameuda;K. Inoue