Regular Papers
International Journal of Control, Automation, and Systems 2024; 22(8): 2551-2562
https://doi.org/10.1007/s12555-023-0410-y
© The International Journal of Control, Automation, and Systems
Path-following Control of a Snake Robot With Multiple Passive Joints
A snake robot should be robust to actuator failures because it has more actuators than required for locomotion. However, controlling a snake robot is problematic if some of the joints become passive because of problems in power supply lines. In a recent study, we proposed a controller to achieve path-following in cases where one of the joints is passive. However, the controller applies only to cases with a single passive joint. With two or more passive joints, it cannot be applied even if sufficient active joints remain. This paper considers the path-following control of a snake robot with passive joints by extending our previous study (the single passive joint case). The validity of the method is verified by numerical simulation.
Keywords Joint malfunctioning, path-following, snake robot.
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Regular Papers
International Journal of Control, Automation, and Systems 2024; 22(8): 2551-2562
Published online August 1, 2024 https://doi.org/10.1007/s12555-023-0410-y
Copyright © The International Journal of Control, Automation, and Systems.
Path-following Control of a Snake Robot With Multiple Passive Joints
Ryo Ariizumi*, Kazunori Sakakibara, Toru Asai, and Shun-ichi Azuma
Tokyo University of Agriculture and Technology
Abstract
A snake robot should be robust to actuator failures because it has more actuators than required for locomotion. However, controlling a snake robot is problematic if some of the joints become passive because of problems in power supply lines. In a recent study, we proposed a controller to achieve path-following in cases where one of the joints is passive. However, the controller applies only to cases with a single passive joint. With two or more passive joints, it cannot be applied even if sufficient active joints remain. This paper considers the path-following control of a snake robot with passive joints by extending our previous study (the single passive joint case). The validity of the method is verified by numerical simulation.
Keywords: Joint malfunctioning, path-following, snake robot.
Vol. 23, No. 3, pp. 683~972
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