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Modeling and Control of Head Raising Snake Robots by Using Kinematic Redundancy
https://uec.repo.nii.ac.jp/records/9290
https://uec.repo.nii.ac.jp/records/92905407fca5-d961-4d73-8ba1-a34dae428946
名前 / ファイル | ライセンス | アクション |
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2014_JIRS (9.0 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-07-23 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Modeling and Control of Head Raising Snake Robots by Using Kinematic Redundancy | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Snake robots | |||||
キーワード | ||||||
言語 | en | |||||
主題 | redundancy | |||||
キーワード | ||||||
言語 | en | |||||
主題 | trajectory tracking | |||||
キーワード | ||||||
言語 | en | |||||
主題 | head raising | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Tanaka, Motoyasu
× Tanaka, Motoyasu× Matsuno, Fumitoshi |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In this paper, we consider trajectory tracking control of a head raising snake robot on a flat plane by using kinematic redundancy. We discuss the motion control requirements to accomplish trajectory tracking and other tasks, such as singular configuration avoidance and obstacle avoidance, for the snake robot. The features of the internal motion caused by kinematic redundancy are considered, and a kinematic model and a dynamic model of the snake robot are derived by introducing two types of shape controllable point. The first is the head shape controllable point, and the other is the base shape controllable point. We analyzed the features of the two kinds of shape controllable point and proposed a controller to accomplish the trajectory tracking of the robot’s head as its main task along with several sub-tasks by using redundancy. The proposed method to accomplish several sub-tasks is useful for both the kinematic model and the dynamic model. Experimental results using a head raising snake robot which can control the angular velocity of its joints show the effectiveness of the proposed controller. | |||||
書誌情報 |
en : Journal of Intelligent & Robotic Systems 巻 75, 号 1, p. 53-69, 発行日 2014-07 |
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出版者 | ||||||
出版者 | Springer | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0921-0296 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1007/s10846-013-9866-y | |||||
権利 | ||||||
権利情報 | ©2014 Springer | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1007/s10846-013-9866-y | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |