Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 52, Issue 10, Pages 10980-10987Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2021.3055519
Keywords
Robots; Snake robots; Mobile robots; Mathematical model; Computational modeling; Adaptation models; Trajectory; Adaptive path following; direction control; optimization; snake-like robot; 3-D motion
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Funding
- National Key Research and Development Program of China [2018YFB1304600]
- Beijing Leading Talents Program [Z191100006119031]
- Beijing Municipal Natural Science Foundation [3202022]
- National Natural Science Foundation of China [51575034]
- Ministry of Science and Higher Education of the Russian Federation as part of World-class Research Center program: Advanced Digital Technologies [075-15-2020-903]
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This study investigates direction control and path following of a 3-D snake-like robot, proposing a new direction control method and an adaptive path-following algorithm that outperform classical methods. Simulation and experimental results demonstrate the superior performance of the proposed 3-D model and control methods.
This work investigates direction control and path following of a 3-D snake-like robot. In order to control such robots accurately, this work researches the relationships between its phase offsets of pitch joints and directions. A new direction control method is proposed for the robot based on these relationships. An adaptive path-following algorithm based on the line-of-sight guidance law is proposed and combined with the direction control method to steer the robot to move forward and along desired paths. Simulation and experimental results are presented to demonstrate the performances of the proposed 3-D model and control methods. They well outperform the classical and commonly used path-following method.
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