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

DOI10.1007/S11432-014-5253-YMaRDI QIDQ893849zbMATH OpenOpenAlexFDO

Authors Xian Guo, Bin Li, ShuGen Ma, Minghui Wang, Yuechao Wang

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)

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Cites work

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

Cited in

(1)

• The effect of snake muscular system on actuators' torque

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