@article{oai:uec.repo.nii.ac.jp:00010093,
 author = {Tanaka, Motoyasu and Sawabe, Hidemasa and Nakajima, Mizuki and Ariizumi, Ryo},
 issue = {10},
 journal = {International Journal of Control, Automation and Systems},
 month = {Oct},
 note = {This paper presents a control method of a planar snake robot with prismatic joints. The kinematic model is derived considering velocity constraints caused by passive wheels. The proposed control method based on the model allows the robot to track a target trajectory by appropriately changing its link length using prismatic joints. The degrees of freedom of prismatic joints are represented as kinematic redundancy in the model and are used in realizing subtasks such as singularity avoidance and obstacle avoidance. In addition, the link length is below its limit when introducing a sigmoid function into the kinematic model. Simulations are carried out to demonstrate the effectiveness of the proposed method and show a novel motion that avoids singular configurations through changes in link lengths.},
 pages = {3475--3486},
 title = {Redundant Control of a Planar Snake Robot with Prismatic Joints},
 volume = {19},
 year = {2021}
}