@article{oai:uec.repo.nii.ac.jp:00010095,
 author = {Nakajima, Mizuki and Tanaka, Motoyasu and Tanaka, Kazuo},
 issue = {1},
 journal = {IEEE Robotics and Automation Letters},
 month = {Jan},
 note = {This letter presents a simultaneous trajectory tracking control method for two points of a snake robot. The kinematic model considering two regulated points is determined as a switched system that is switched by lifting a few wheels. The system becomes a kinematically redundant system by the lifting of the wheels; however, it has to prevent two types of singular configurations; one is the traditional one, and the other is caused by regulating two points simultaneously. Using this redundancy and selecting the lifted wheels, we design a trajectory tracking controller for two points by preventing the two types of singular configurations. The effectiveness of the proposed control method was demonstrated by tracking experiments as well as applications, namely, the transportation of an object by caging manipulation and the steering of a handcart.},
 pages = {111--118},
 title = {Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation},
 volume = {5},
 year = {2020}
}