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Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots

Abstract

This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic feedback control law for the joints of the robot to track a desired gait pattern. This tracking control law depends on the time evolution of the state variables of a dynamic compensator which is used for controlling the orientation of the robot. In particular, we employ the dynamic compensator to practically stabilize a reference head angle defined by a Line-of-Sight path following guidance law. Using an input-output stability analysis, we show the uniform boundedness of the solutions of the controlled system. Furthermore, we use a perturbation analysis to show that the orientation error is ultimately bounded by an arbitrarily small bound. Simulation results are presented to validate the theoretical results.

Category

Academic chapter/article/Conference paper

Client

  • Research Council of Norway (RCN) / 223254
  • Research Council of Norway (RCN) / 205622

Language

English

Author(s)

  • Ehsan Rezapour
  • Kristin Ytterstad Pettersen
  • Jan Tommy Gravdahl
  • Pål Liljebäck

Affiliation

  • Norwegian University of Science and Technology
  • SINTEF Digital / Mathematics and Cybernetics

Year

2014

Publisher

IEEE conference proceedings

Book

Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on)

Issue

2014

ISBN

978-1-4799-3126-2

Page(s)

993 - 1000

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