1P1-K03 三叉ヘビ型ロボットとその操縦システムの開発(車輪型/クローラ型移動ロボット)

概要

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The trident snake robot is a novel kind of nonholonomic mobile robot. The authors suggested a systematic control algorithm based on transverse function (TF) approach. The control object is to practically stabilize any given reference trajectory in the space of planar rigid motions (SE(2)) while avoiding mechanical singularities. In the authors' previous works, this approach was validated in terms of control smoothness and stability by several simulations. However, the algorithm is fairly complicated and its applicability to real experimental setup was not clear. In this paper, we develop the trident snake robot and real-time maneuvering system with nonlinear dynamic feedback and examine the usability of TF approach by several experiments.
一般社団法人日本機械学会の論文
2011-05-26