Control of a snake robot for passing through a self-closing door
Control of a snake robot for passing through a self-closing door
复制标题
控制蛇形机器人通过自动关闭门
DOI：
10.1080/01691864.2021.1905060
复制
发表时间：
2021
影响因子：
2
通讯作者：
Kazuo Tanaka
中科院分区：
文献类型：
--
作者：
Mizuki Nakajima;Motoyasu Tanaka;Kazuo Tanaka
We propose the control method for a snake robot to pass through a self-closing door. The proposed method is realized by applying the two-point simultaneous control method. The position and orientation of head and tail of the robot are controlled simultaneously by using the two-point simultaneous control method. By controlling the position and orientation of the head of the robot, the robot opens the door and keeps it open. At the same time, the robot enters through the door from the tail by controlling the tail of the robot simultaneously. The robot passes through the door by pushing away the side of the door with the body. The proposed method enables the robot to enter the interior separated by a door and contributes to the expansion of the activity environment for snake robots. The experimental result validates the proposed methods. GRAPHICAL ABSTRACT
DOI：
10.1109/robot.2009.5152862
发表时间：
2009-05
期刊：
2009 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
T. Kamegawa;Takaaki Harada;A. Gofuku
通讯作者：
T. Kamegawa;Takaaki Harada;A. Gofuku