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Motion control of a snake robot moving between two non-parallel planes
https://uec.repo.nii.ac.jp/records/9075
https://uec.repo.nii.ac.jp/records/9075d2f82e10-546a-46dc-8b7a-b1d101d13d22
名前 / ファイル | ライセンス | アクション |
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AR_2018_edited_finalVer (3.8 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-04-05 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Motion control of a snake robot moving between two non-parallel planes | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Snake robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Slope | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Redundancy | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Trajectory tracking | |||||
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 |
Nakajima, Mizuki
× Nakajima, Mizuki× Tanaka, Motoyasu× Tanaka, Kazuo× Matsuno, Fumitoshi |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | A control method that makes the head of a snake robot follow an arbitrary trajectory on two non-parallel planes, including coexisting sloped and flat planes, is presented. We clarify an appropriate condition of contact between the robot and planes and design a controller for the part of the robot connecting the two planes that satisfies the contact condition. Assuming that the contact condition is satisfied, we derive a simplified model of the robot and design a controller for trajectory tracking of the robot’s head. The controller uses kinematic redundancy to avoid violating the limit of the joint angle and a collision between the robot and the edge of a plane. The effectiveness of the proposed method is demonstrated in experiments using an actual robot. | |||||
書誌情報 |
en : Advanced Robotics 巻 32, 号 10, p. 559-573, 発行日 2018-04-08 |
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出版者 | ||||||
出版者 | Taylor & Francis | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0169-1864 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1080/01691864.2018.1458653 | |||||
権利 | ||||||
権利情報 | This is an Accepted Manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 08/04/2018, available online: http://www.tandfonline.com/10.1080/01691864.2018.1458653. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1080/01691864.2018.1458653 | |||||
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 |