Tracking control for snake robot joints

Aksel A. Transeth, Nathan Van De Wouw, Alexey Pavlov, João P. Hespanha, Kristin Y. Pettersen

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

26 Citations (Scopus)

Abstract

This paper considers the problem of model based control of the joints of a snake robot without wheels. The potential range of applications for snake robots are numerous, and delicate operations such as inspection and maintenance in industrial environments or performing search and rescue operations require precise control of a snake robot joints. To this end we present a controller that asymptotically stabilizes the joints of the snake robot to a desired reference trajectory. The controller is based on input-output linearization of a control plant model of the snake robot dynamics also developed in this paper. In addition, we provide a formal Lyapunov-based proof of the closed-loop stability, together with simulation results for a smooth dynamical model. Finally, the performance of the controller is tested on a non-smooth snake robot model with set-valued Coulomb friction that offers an accurate description of the stick-slip transitions during locomotion.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages3539-3546
Number of pages8
ISBN (Print)1424409128, 9781424409129
DOIs
Publication statusPublished - 1 Dec 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 29 Oct 20072 Nov 2007

Conference

Conference2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period29/10/072/11/07

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