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

DOI10.1007/S11432-014-5253-YzbMATH Open1325.93044OpenAlexW23799221MaRDI QIDQ893849FDOQ893849

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

Recommendations

• A study of snake-like locomotion through the analysis of a flexible robot model
• scientific article; zbMATH DE number 6610850
• A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry
• scientific article; zbMATH DE number 2061441
• On geometric control models of a robotic snake

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

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

Cited In (1)

• The effect of snake muscular system on actuators' torque

This page was built for publication: Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q893849)