| アイテムタイプ |
学術雑誌論文 / Journal Article(1) |
| 公開日 |
2019-04-05 |
| タイトル |
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|
タイトル |
Head-Trajectory-Tracking Control of a Snake Robot and Its Robustness Under Actuator Failure |
|
言語 |
en |
| 言語 |
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|
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 |
Trajectory tracking |
| キーワード |
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|
言語 |
en |
|
主題 |
Actuator malfunction |
| 資源タイプ |
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|
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 |
Ariizumi, Ryo
Takahashi, Ryota
Tanaka, Motoyasu
Asai, Toru
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| 抄録 |
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内容記述タイプ |
Abstract |
|
内容記述 |
This brief considers the problem of trajectory tracking of a planar snake robot without a lateral constraint. The reference trajectory of the head position and the orientation of link 1 are given, and torque control is determined to reduce tracking errors. The performance of the controller was tested in a number of simulations. The robustness during actuator failure was also studied. We assumed that one of the actuators was broken and the corresponding joint became passive. Furthermore, as a more realistic situation, we considered an instance when some of the states were not readily accessible from the sensor readings and needed to be estimated by an observer. The extended Kalman filter was employed for this purpose, and the performance of the closed-loop system with the observer was also tested in simulations. |
| 書誌情報 |
en : IEEE Transactions on Control Systems Technology
巻 27,
号 6,
p. 2589-2597,
発行日 2019-11
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| 出版者 |
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出版者 |
IEEE (Institute of Electrical and Electronics Engineers) |
| ISSN |
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|
収録物識別子タイプ |
ISSN |
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収録物識別子 |
1063-6536 |
| DOI |
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関連タイプ |
isVersionOf |
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識別子タイプ |
DOI |
|
|
関連識別子 |
10.1109/TCST.2018.2866964 |
| 権利 |
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|
権利情報 |
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. |
| 関連サイト |
|
|
|
識別子タイプ |
DOI |
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|
関連識別子 |
https://doi.org/10.1109/TCST.2018.2866964 |
| 著者版フラグ |
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|
出版タイプ |
AM |
|
出版タイプResource |
http://purl.org/coar/version/c_ab4af688f83e57aa |
TCST_2018_edited_finalVer (1.9 MB)
