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  • 标题:Development and Control Experiment of a Snake-Like Robot with Controllable Side-Thrust Links ⁎
  • 本地全文:下载
  • 作者:Yuki Takagi ; Masato Ishikawa ; Koichi Osuka
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2019
  • 卷号:52
  • 期号:15
  • 页码:229-234
  • DOI:10.1016/j.ifacol.2019.11.679
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThis paper presents practical results of a snake-like robot with controllable side-thrust links, which is a novel snake-like robot proposed by the authors. This snake-like robot consists of multiple links connected by passive joints and each link has an active omni-directional wheel. Driving forces of the omni-directional wheels act only in the lateral directions, while the robot moves in the longitudinal direction. In this paper, the proposed snake-like robot is realized and a locomotion controller with an anti-slip controller is introduced. Development and experiment shows that the proposed snake-like robot not only looks good on paper.
  • 关键词:KeywordsNonlinear control systemsWheeled mobile robotsPeriodic motionRobot controlRobot kinematics
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