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This paper describes modeling and control of a snake robot which can switch grounded parts dynamically. A snake lifts up some parts of its body and dynamically switches grounded parts during locomotion, for example, sinus-lifting and sidewinding motion. We model the lifting up 3D motion of the snake as a switching constraints system in 2D motion and propose the control strategy for the trajectory...
In this paper, we consider the trajectory tracking control of a 3-dimensional (3D) snake robot by using redundancy. We discuss the motion control which accomplishes the trajectory tracking and other tasks, for example singular configuration avoidance, obstacle avoidance, etc., for the 3D snake robot. Features of the internal motion caused by the kinematic redundancy are considered and the dynamic...
Simultaneous Localization And Mapping (SLAM) has been an important topic for robotics. The technology will also be useful for walking navigation for, e.g., blind persons. We are developing a system using a laser range sensor and a pushcart designed to assist walking persons. Recently, interests in localization and map building with laser range sensor have been increasing in robotics community. A system...
Authors are developing a rotorcraft with autonomous controller for the remote sensing of agricultural fields. Accurate position sensing is essential to the development of the autonomous control system. One major method for the position sensing is to use the image processing technique. Among the image processing techniques labeling processing is most practical and is widely used for detecting the position...
In this paper we consider modeling and control of a redundant snake robot with wheeled link mechanism based on kinematic model. We derive a kinematic model of a snake robot with introducing links without wheels and shape controllable points in the snake robot's body in order to make the system redundancy controllable. By using redundancy, it becomes possible to accomplish the main objective of controlling...
In this paper, we derive a dynamic model and a control law for cooperative task of two snake robots which have wheeled links and demonstrate the validity of proposed controller by simulation and experiment. First, we derive a dynamic model of single snake robot with redundancy by introducing the shape controllable points. Next, we extend it to the model for the cooperative task of two redundant snake...
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