TY - GEN
T1 - Serpentine motion control of snake robots for curvature and heading based trajectory - Parameterization
AU - Kelasidi, Eleni
AU - Tzes, Anthony
PY - 2012
Y1 - 2012
N2 - The control problem for the serpentine motion of a planar snake under the assumption of a trajectory characterized by its curvature and heading is examined in this article. The time varying curvature and heading attributes of the trajectory result in a sinusoidal reference signal for the joint angles. An inner loop PD-controller is used for trajectory tracking by compensating the effects of the snake's dynamics, while an outer loop first-order controller is used for the formation of the reference joint angles by tracking the desired heading and velocity. Simulation studies on spiral curves are included to investigate the efficiency of the controller.
AB - The control problem for the serpentine motion of a planar snake under the assumption of a trajectory characterized by its curvature and heading is examined in this article. The time varying curvature and heading attributes of the trajectory result in a sinusoidal reference signal for the joint angles. An inner loop PD-controller is used for trajectory tracking by compensating the effects of the snake's dynamics, while an outer loop first-order controller is used for the formation of the reference joint angles by tracking the desired heading and velocity. Simulation studies on spiral curves are included to investigate the efficiency of the controller.
UR - http://www.scopus.com/inward/record.url?scp=84866931083&partnerID=8YFLogxK
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U2 - 10.1109/MED.2012.6265693
DO - 10.1109/MED.2012.6265693
M3 - Conference contribution
AN - SCOPUS:84866931083
SN - 9781467325318
T3 - 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
SP - 536
EP - 541
BT - 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
T2 - 2012 20th Mediterranean Conference on Control and Automation, MED 2012
Y2 - 3 July 2012 through 6 July 2012
ER -