Experimental studies of serpentine motion control of snake robots at inclined planes

Orestis Varesis, Charalambos Diamantopoulos, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The modelling and control problem for the serpentine motion of a planar snake-robot moving at inclined planes is the subject of this article. The effects of the gravity-induced terms, compared to the tangential and normal friction forces, compared to the snake's dynamics is presented. During the snake's controlled motion using a trajectory characterized by its curvature and heading, these terms have a detrimental effect on the system's stability. Experimental studies with a prototype eight DoF planar snake are offered to investigate this issue.

Original languageEnglish (US)
Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages737-742
Number of pages6
ISBN (Electronic)9781467383455
DOIs
StatePublished - Aug 5 2016
Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
Duration: Jun 21 2016Jun 24 2016

Publication series

Name24th Mediterranean Conference on Control and Automation, MED 2016

Other

Other24th Mediterranean Conference on Control and Automation, MED 2016
CountryGreece
CityAthens
Period6/21/166/24/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Modeling and Simulation

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