TY - GEN
T1 - Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments
AU - Koopaee, Mohammadali Javaheri
AU - Pretty, Christopher
AU - Classens, Koen
AU - Chen, Xiao Qi
PY - 2019/11/25
Y1 - 2019/11/25
N2 - This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback in gait parameter space is proposed and implemented, resulting in the robot to successfully climbing over a stair-type obstacle without any prior knowledge about the environment
AB - This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback in gait parameter space is proposed and implemented, resulting in the robot to successfully climbing over a stair-type obstacle without any prior knowledge about the environment
KW - Adaptive locomotion
KW - Bio inspired snake robots
KW - Equations of motion
KW - Pedal wave locomotion
KW - Uneven terrain
UR - http://www.scopus.com/inward/record.url?scp=85076445255&partnerID=8YFLogxK
U2 - 10.1115/DETC2019-97227
DO - 10.1115/DETC2019-97227
M3 - Conference contribution
AN - SCOPUS:85076445255
VL - 9
BT - 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
PB - American Society of Mechanical Engineers
CY - Anaheim, California, USA
T2 - ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Y2 - 18 August 2019 through 21 August 2019
ER -