122 横滑りを考慮した蛇型ロボットの運動制御(非線形制御理論応用I)(OS 非線形制御理論応用)

概要

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This paper deals with motion control method of a snakelike robot. Serpentine which is one of characteristic motion of snake, is realized under restriction that all links can not sideslip. And twineing as another characteristic motion, is realized under restriction that all links can slideslip. However no research is reported to perform both of these motion using the same robot, until now. We consider a snakelike robot which consists of 10 links and 9 motors. Each link has passive wheels, so links are difficult to sidesliding. When Realizing serpentine motion, the snakelike robot is controlled under wheel restriction. And twineing is realized by adding the force that exceed friction force to each of link. This paper proposes a motion control metohd of snakelike robot that realize serpentine and twineing motion by controling sideslip force.
社団法人日本機械学会の論文
2001-04-20