Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer
The purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/9/19/4012 |
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| author | Shunsuke Nansai Takumi Yamato Masami Iwase Hiroshi Itoh |
| author_facet | Shunsuke Nansai Takumi Yamato Masami Iwase Hiroshi Itoh |
| author_sort | Shunsuke Nansai |
| collection | DOAJ |
| description | The purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels of the snake-like robot have a chance of side-slipping. To locomote the snake-like robot dexterously, a control system which adapts to such side-slipping is desired. There are two key points to realizing such a system: First, a dynamic model capable of representing the passive side-slipping must be formulated. A solution for the first key point is to develop a switching dynamic model for the snake-like robot, which switches depending on the occurrence of the side-slipping, by utilizing a projection method. The second key point is to adapt the control system’s behavior to side-slipping. An idea for such a solution is to include the side-slipping velocity in the weighting matrices. An algorithm to estimate the occurrence of side-slipping and the particular side-slipping link is constructed, to formulate the dynamic model depending on the actual side-slipping situation. The effectiveness of the designed Luenberger observer and the head control system for side-slipping adaptation is verified through numerical simulation. |
| first_indexed | 2024-12-16T06:47:19Z |
| format | Article |
| id | doaj.art-2e0b299724674e01a211a817d359efcd |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-16T06:47:19Z |
| publishDate | 2019-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-2e0b299724674e01a211a817d359efcd2022-12-21T22:40:31ZengMDPI AGApplied Sciences2076-34172019-09-01919401210.3390/app9194012app9194012Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing ObserverShunsuke Nansai0Takumi Yamato1Masami Iwase2Hiroshi Itoh3Department of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, Tokyo 120-8551, JapanDepartment of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, Tokyo 120-8551, JapanDepartment of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, Tokyo 120-8551, JapanDepartment of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, Tokyo 120-8551, JapanThe purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels of the snake-like robot have a chance of side-slipping. To locomote the snake-like robot dexterously, a control system which adapts to such side-slipping is desired. There are two key points to realizing such a system: First, a dynamic model capable of representing the passive side-slipping must be formulated. A solution for the first key point is to develop a switching dynamic model for the snake-like robot, which switches depending on the occurrence of the side-slipping, by utilizing a projection method. The second key point is to adapt the control system’s behavior to side-slipping. An idea for such a solution is to include the side-slipping velocity in the weighting matrices. An algorithm to estimate the occurrence of side-slipping and the particular side-slipping link is constructed, to formulate the dynamic model depending on the actual side-slipping situation. The effectiveness of the designed Luenberger observer and the head control system for side-slipping adaptation is verified through numerical simulation.https://www.mdpi.com/2076-3417/9/19/4012snake-like robotnonlinear controlstate estimation |
| spellingShingle | Shunsuke Nansai Takumi Yamato Masami Iwase Hiroshi Itoh Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer Applied Sciences snake-like robot nonlinear control state estimation |
| title | Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer |
| title_full | Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer |
| title_fullStr | Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer |
| title_full_unstemmed | Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer |
| title_short | Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer |
| title_sort | locomotion control of snake like robot with rotational elastic actuators utilizing observer |
| topic | snake-like robot nonlinear control state estimation |
| url | https://www.mdpi.com/2076-3417/9/19/4012 |
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