TY - GEN
T1 - Experimental studies of serpentine motion control of snake robots at inclined planes
AU - Varesis, Orestis
AU - Diamantopoulos, Charalambos
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/5
Y1 - 2016/8/5
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84986214964&partnerID=8YFLogxK
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U2 - 10.1109/MED.2016.7535879
DO - 10.1109/MED.2016.7535879
M3 - Conference contribution
AN - SCOPUS:84986214964
T3 - 24th Mediterranean Conference on Control and Automation, MED 2016
SP - 737
EP - 742
BT - 24th Mediterranean Conference on Control and Automation, MED 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th Mediterranean Conference on Control and Automation, MED 2016
Y2 - 21 June 2016 through 24 June 2016
ER -