Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory

DOI10.1007/s11432-014-5253-yzbMath1325.93044OpenAlexW23799221MaRDI QIDQ893849

Xian Guo, Bin Li, Ming-hui Wang, YueChao Wang, ShuGen Ma

Publication date: 20 November 2015

Published in: Science China. Information Sciences (Search for Journal in Brave)

Full work available at URL: http://engine.scichina.com/doi/10.1007/s11432-014-5253-y

zbMATH Keywords

optimal controlnonholonomicsnake-like robotfiber bundle theoryredundant torque

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry
• Geometric phases and robotic locomotion

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