Improved Jacobian matrix estimation applied to snake robots
Two manipulator Jacobian matrix estimators for constrained planar snake robots are developed and tested, which enables the implementation of Jacobian-based obstacle-aided locomotion (OAL) control schemes. These schemes use obstacles in the robot’s vicinity to obtain propulsion. The devised estimator...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2023-05-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1190349/full |