Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints
Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints
复制标题
DOI：
10.1109/tcst.2015.2467208
复制
发表时间：
2016-05-01
影响因子：
4.8
通讯作者：
Pettersen, Kristin Y.
中科院分区：
文献类型：
--
作者：
Mohammadi, Alireza;Rezapour, Ehsan;Pettersen, Kristin Y.
研究了平面蛇形机器人的机动控制问题。控制目标是使机器人的质心收敛到一条期望的路径上，并以期望的速度沿路径运动。所提出的反馈控制策略强制执行对横向波动步态进行编码的虚拟约束，该约束由用于调节蛇形机器人的方向和前进速度的动态补偿器的状态参数化。
This paper investigates the problem of maneuvering control for planar snake robots. The control objective is to make the center of mass of the snake robot converge to a desired path and traverse the path with a desired velocity. The proposed feedback control strategy enforces virtual constraints encoding a lateral undulatory gait, parametrized by the states of dynamic compensators used to regulate the orientation and forward speed of the snake robot.