Control of locomotion and head configuration of 3D snake robot (SMA)
Control of locomotion and head configuration of 3D snake robot (SMA)
复制标题
3D 蛇形机器人 (SMA) 的运动和头部配置控制
DOI：
10.1109/robot.2003.1241896
复制
发表时间：
2003
期刊：
影响因子：
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通讯作者：
Takeshi Yamada
中科院分区：
文献类型：
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作者：
M. Yamakita;M. Hashimoto;Takeshi Yamada
针对三维蛇形机器人，提出了一种以水平约束力为物理指标的缠绕控制技术，并证明了该机器人可以在较小的关节力矩下实现缠绕运动。如果接近目标点，就要抬起头，像机械手一样工作。为此，提出了一种既适用于链路冗余情况又适用于链路数量不足情况的基于准则函数的头部构型控制方法。为了证明所提方法的有效性，我们构造了一个蛇形机器人SMA。实验结果表明，该系统能自动生成避免机器人姿态奇异的缠绕模式，并能实现对机器人头部位置和方向的合理控制。
In this paper, we propose a winding control technique using a physical index of horizontal constraint force for a 3D snake-like robot, and it is shown that a winding motion of the robot can be realized with small joint torque. If it approaches a target point, it is necessary to raise the head and to work like a manipulator. Therefore, a control method of the head configuration using a criterion function, which can be used in both redundant and insufficient number of link cases is proposed. In order to show the validity of the proposed methods, we constructed a snake like robot called SMA. Using the experimental system, we show that the winding pattern with which the robot can avoid singular postures is generated automatically, and head position and head orientation can be controlled properly.