@article{oai:uec.repo.nii.ac.jp:00009075,
 author = {Nakajima, Mizuki and Tanaka, Motoyasu and Tanaka, Kazuo and Matsuno, Fumitoshi},
 issue = {10},
 journal = {Advanced Robotics},
 month = {Apr},
 note = {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.},
 pages = {559--573},
 title = {Motion control of a snake robot moving between two non-parallel planes},
 volume = {32},
 year = {2018}
}