Tracking control for snake robot joints

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

doi:10.1109/IROS.2007.4399174

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 proceeding › Conference contribution › Academic › peer-review

28 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 language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	3539-3546
Number of pages	8
ISBN (Print)	1424409128, 9781424409129
DOIs	https://doi.org/10.1109/IROS.2007.4399174
Publication status	Published - 1 Dec 2007
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, United States Duration: 29 Oct 2007 → 2 Nov 2007

Conference

Conference	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/Territory	United States
City	San Diego
Period	29/10/07 → 2/11/07

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10.1109/IROS.2007.4399174

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@inproceedings{82d83ba67cdd4e479a96bf407a90fe77,

title = "Tracking control for snake robot joints",

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.",

author = "Transeth, \{Aksel A.\} and \{Van De Wouw\}, Nathan and Alexey Pavlov and Hespanha, \{Jo{\~a}o P.\} and Pettersen, \{Kristin Y.\}",

year = "2007",

month = dec,

day = "1",

doi = "10.1109/IROS.2007.4399174",

language = "English",

isbn = "1424409128",

pages = "3539--3546",

booktitle = "Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 ; Conference date: 29-10-2007 Through 02-11-2007",

}

Transeth, AA, Van De Wouw, N, Pavlov, A, Hespanha, JP & Pettersen, KY 2007, Tracking control for snake robot joints. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399174, Institute of Electrical and Electronics Engineers, Piscataway, pp. 3539-3546, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, California, United States, 29/10/07. https://doi.org/10.1109/IROS.2007.4399174

Tracking control for snake robot joints. / Transeth, Aksel A.; Van De Wouw, Nathan; Pavlov, Alexey et al.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. Piscataway: Institute of Electrical and Electronics Engineers, 2007. p. 3539-3546 4399174.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - Tracking control for snake robot joints

AU - Transeth, Aksel A.

AU - Van De Wouw, Nathan

AU - Pavlov, Alexey

AU - Hespanha, João P.

AU - Pettersen, Kristin Y.

PY - 2007/12/1

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N2 - 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.

AB - 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.

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BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007

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T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007

Y2 - 29 October 2007 through 2 November 2007

ER -

Tracking control for snake robot joints

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