Direction following control of planar snake robots using virtual holonomic constraints

Alireza Mohammadi,Ehsan Rezapour,Manfredi Maggiore,Kristin Ytterstad Pettersen

Decision and Control（2014）

引用 16|浏览8

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摘要

This paper investigates the problem of direction following for planar snake robots. The control objective is to regulate the linear velocity vector of the snake robot to a constant reference while guaranteeing boundedness of the system states. The proposed feedback control strategy enforces virtual constraints encoding a lateral undulatory gait, parametrized by states of dynamic compensators used to regulate the orientation and forward speed of the snake robot.

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关键词

biomimetics,mobile robots,direction following control,dynamic compensators,feedback control strategy,forward speed,planar snake robots,system states,undulatory gait,virtual constraints,virtual holonomic constraints

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