Journal
ADVANCED ROBOTICS
Volume 37, Issue 7, Pages 447-457Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2022.2163186
Keywords
Path following; snake robots; actuator failure
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This paper proposes a control law that achieves linear path-following control of a snake robot with a passive joint, and the effectiveness of the control method is demonstrated through numerical simulation and experiment.
The highly redundant nature of a snake robot will enable the robot to complete its task even with a passive joint caused by an actuator failure. However, existing control methods cannot be applied to a snake robot with a passive joint. This paper proposes a control law that achieves linear path-following control of a snake robot with a passive joint. The effectiveness of our control method is shown via numerical simulation and experiment.
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