Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot

Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot

This paper presents the dynamic formulation of an artificial-muscle-driven and computed-muscle–force control for the planar locomotion of a snake robot. The snake robot uses a series of antagonistic pneumatic artificial muscles, assembled at the joints, to generate the locomotion. Kinematics of the...

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Bibliographic Details
Main Author: Mahdi Haghshenas-Jaryani
Format: Article
Language:English
Published: MDPI AG 2022-07-01
Series:Actuators
Subjects:
snake-like robot
pneumatic artificial muscle
soft actuator
artificial-muscle-driven limbless locomotion
dynamics
control
Online Access:https://www.mdpi.com/2076-0825/11/7/194

Internet

https://www.mdpi.com/2076-0825/11/7/194

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