Path-tracking control of a snake-like robot using screw drive mechanism

Hiroaki Fukushima, Motoyasu Tanaka, Tetsushi Kamegawa, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a path-tracking control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. Although the velocity commands for exact path tracking can be calculated using past command signals due to the omni-directional property of the robot, a simpler control law without using past signals is adopted from the implementation viewpoint. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1624-1629
Number of pages6
DOIs
Publication statusPublished - Dec 1 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period9/22/089/26/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Fukushima, H., Tanaka, M., Kamegawa, T., & Matsuno, F. (2008). Path-tracking control of a snake-like robot using screw drive mechanism. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1624-1629). [4650867] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650867