Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments

Mohammadali Javaheri Koopaee, Christopher Pretty, Koen Classens, Xiao Qi Chen

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

5 Citaten (Scopus)
119 Downloads (Pure)

Samenvatting

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
Originele taal-2Engels
Titel15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Plaats van productieAnaheim, California, USA
UitgeverijAmerican Society of Mechanical Engineers
Aantal pagina's9
Volume9
ISBN van elektronische versie9780791859292
DOI's
StatusGepubliceerd - 25 nov. 2019
EvenementASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, Verenigde Staten van Amerika
Duur: 18 aug. 201921 aug. 2019

Congres

CongresASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Land/RegioVerenigde Staten van Amerika
StadAnaheim
Periode18/08/1921/08/19

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