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 pat...

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Bibliographic Details
Published in:International journal of control, automation, and systems automation, and systems, 2024-08, Vol.22 (8), p.2551-2562
Main Authors: Ariizumi, Ryo, Sakakibara, Kazunori, Asai, Toru, Azuma, Shun-ichi
Format: Article
Language:English
Subjects:
Active control
Actuator failure
Control
Controllers
Engineering
Locomotion
Mechatronics
Regular Papers
Robot control
Robot dynamics
Robotics
Robust control
Citations: Items that this one cites
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Summary: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.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-023-0410-y