scholarly journals A Whole Body Path Following Feedback Control Method for a Snake-like Robot with Multiple Steering Systems

2017 ◽  
Vol 53 (9) ◽  
pp. 509-522
Author(s):  
Koichiro NOGI ◽  
Hiroaki YAMAGUCHI ◽  
Naoaki YONEZAWA
Keyword(s):  
Feedback Control ◽  
Control Method ◽  
Path Following ◽  
Whole Body ◽  
Feedback Control Method

Control of a Two-Joint, Two-Steering Snake-Like Robot

2009 ◽  
Vol 21 (1) ◽  
pp. 66-73
Author(s):  
Hiroaki Yamaguchi ◽  
Keyword(s):  
Feedback Control ◽  
Constant Velocity ◽  
Control Method ◽  
Mechanical Design ◽  
Path Following ◽  
Steering System ◽  
Mathematical Framework ◽  
Feedback Control Method ◽  
New Type ◽  
Position And Orientation

This paper introduces and describes a new type of snake-like robot, a two-joint, two-steering snake-like robot, and its control method. We first present a mechanical design of this snake-like robot that is inspired by a mathematical perspective on conversion of its kinematical equation into three-chain, single-generator chained form in a mathematical framework, differential geometry. Especially, we assume a virtual steering system at the head of the first link of the snake-like robot, which makes the conversion possible. We secondly present a path following feedback control method based on chained form that enables the first link to follow straight paths at a constant velocity. Of course, it is also possible for the first link to have any desired position and orientation by combining some followings of straight paths under this feedback control method. Validity of the mechanical design of the snake-like robot, the conversion of its kinematical equation, and its control method is verified by computer simulations. This paper is the full translation from the transactions of JSME Vol.71, No.706.

Control of A New Type of Undulatory Wheeled Locomotor: A Trident Steering Walker Based on Chained Form

2009 ◽  
Vol 21 (4) ◽  
pp. 541-553 ◽  
Author(s):  
Hiroaki Yamaguchi ◽  
Keyword(s):  
Feedback Control ◽  
Performance Index ◽  
Control Method ◽  
Path Following ◽  
Steering System ◽  
Mathematical Framework ◽  
Control Parameters ◽  
Straight Path ◽  
Feedback Control Method ◽  
New Type

This paper introduces and describes a new type of undulatory wheeled locomotor, which we refer to as a “trident steering walker.” The wheeled locomotor is a nonholonomic mechanical system, which consists of an equilateral triangular base, three joints, three links and four steering systems. The equilateral triangular base has a steering system at its center of mass. At each apex of the base is a joint which connects the base and a link. The link has a steering system at its midpoint. The wheeled locomotor transforms driving the three joints into its movement by operating the four steering systems. This means that the wheeled locomotor achieves undulatory locomotion in which changes in its own shape are transformed into its net displacement. We assume that there is a virtual joint at the end of the first link. The virtual joint connects the first link and a virtual link which has a virtual axle at its midpoint and a virtual steering system at its end. We prove that, by assuming the presence of such virtual mechanical elements, it is possible to convert the kinematical equation of the trident steering walker into five-chain, single-generator chained form in a mathematical framework, differential geometry. Based on chained form, we derive a path following feedback control method which causes the trident steering walker to follow a straight path. We also define a performance index of propulsion of the trident steering walker to design its control parameters. The validity of the mechanical design of the trident steering walker, the conversion of its kinematical equation into chained form, the straight path following feedback control method, and the design of the control parameters reflecting the performance index of propulsion has been verified by computer simulations.

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