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The interaction between the snake-like robot and environment produces serpentine action to push the body forward. A slender body shape made from many modules occupies a larger scale. In this paper, snake-like robot motion planning method is analyzed by considering each module's position and its movement as well as position of obstacles. The Potential Energy Function between each module and obstacles...
It is well known that a robot driven by a McKibben pneumatic actuator generates stable motion in spite of its simple control and simple actuator model. However, how the characteristics of the McKibben pneumatic actuator act on the stability of a robots motion has not been sufficiently discussed. In this paper, a physical model of the McKibben pneumatic actuator is derived and the stability of a robot...
This paper introduces a method for analytical planning of feasible hybrid periodic trajectories in nonfeedback-linearizable impulsive mechanical systems with control inputs. For a planned motion, a procedure for computation of a transverse linearization for a class of hybrid controlled mechanical systems with underactuation one is presented. The resulting linear comparison system can be used for stability...
In order to track multiform curves planned for nonholonomic wheeled mobile robots stably, this paper presents an effective trajectory planning scheme and an improved tracking controller using a biological incentive model. The trajectory planning scheme, which includes a curvature estimator based on two adjacent points, combines the results of path planning with the policies of tracking.. The kinetic...
In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid...
For large self-reconfiguring robots, any algorithm that requires linear amounts of memory per module (with respect to the number of modules) or linear time for computation or communication per actuation is undesirable. While shape-forming may require linear amounts of memory, locomotion can be performed with simpler shape specifications, and therefore sublinear algorithms are possible. In this paper,...
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