Manipulability analysis of a snake robot without lateral constraint for head position control

DOI10.1002/ASJC.2118MaRDI QIDQ6570428FDOQ6570428

Authors: Motoyasu Tanaka 

Publication date: 10 July 2024

Published in: Asian Journal of Control (Search for Journal in Brave)

Recommendations

• Plane-parallel motion of a snake robot in the presence of anisotropic dry friction and a single control input
• A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry
• Local controllability of snake robots based on CRA, theory and practice
• scientific article; zbMATH DE number 6610850
• Adaptive robust control for planar snake robots

zbMATH Keywords

controllabilitydynamical modelmanipulabilitysnake robothead trajectory trackinghyper redundant manipulator

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Cites Work

• Nonlinear control systems: An introduction
• The zero dynamics of a nonlinear system: from the origin to the latest progresses of a long successful story
• CGA-based robotic snake control
• A method for determination of optimal gaits with application to a snake-like serial-link structure
• Controllability and Stability Analysis of Planar Snake Robot Locomotion

This page was built for publication: Manipulability analysis of a snake robot without lateral constraint for head position control

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6570428)