Regular Papers
International Journal of Control, Automation, and Systems 2024; 22(10): 3133-3146
https://doi.org/10.1007/s12555-023-0424-5
© The International Journal of Control, Automation, and Systems
The Dynamical Model and the Slithering Controller of Continuous Snake-like Robot on Smooth Surface
This paper introduces a new dynamical model for a continuous snake-like robot and a controller yielding slithering motion on a smooth curved surface. Smooth curve models are common tools in studies on snake-like robots, however, the application of those models is limited to cases without sideslips. Our new model can deal with locomotion with sideslips on curved surfaces. Moreover, the numerical simulation of climbing up the surface of a cylinder based on our model reveals the important role of the tangential friction of the body, which was underestimated by previous studies. The result illuminates the trade-off relation between the energy efficiency and the reachability of the snake-like robots.
Keywords Control, distributed parameter model, locomotion on manifold, snake-like robot.
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Regular Papers
International Journal of Control, Automation, and Systems 2024; 22(10): 3133-3146
Published online October 1, 2024 https://doi.org/10.1007/s12555-023-0424-5
Copyright © The International Journal of Control, Automation, and Systems.
The Dynamical Model and the Slithering Controller of Continuous Snake-like Robot on Smooth Surface
Koki Harada, Ryo Ariizumi*, Toru Asai, and Shun-ichi Azuma
Tokyo University of Agriculture and Technology
Abstract
This paper introduces a new dynamical model for a continuous snake-like robot and a controller yielding slithering motion on a smooth curved surface. Smooth curve models are common tools in studies on snake-like robots, however, the application of those models is limited to cases without sideslips. Our new model can deal with locomotion with sideslips on curved surfaces. Moreover, the numerical simulation of climbing up the surface of a cylinder based on our model reveals the important role of the tangential friction of the body, which was underestimated by previous studies. The result illuminates the trade-off relation between the energy efficiency and the reachability of the snake-like robots.
Keywords: Control, distributed parameter model, locomotion on manifold, snake-like robot.
Vol. 22, No. 10, pp. 2955~3252
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