Path-tracking control of a snake-like robot using screw drive mechanism

Hiroaki Fukushima; Motoyasu Tanaka; Tetsushi Kamegawa; Fumitoshi Matsuno

doi:10.1109/IROS.2008.4650867

Path-tracking control of a snake-like robot using screw drive mechanism

Hiroaki Fukushima, Motoyasu Tanaka, Tetsushi Kamegawa, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper presents a path-tracking control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. Although the velocity commands for exact path tracking can be calculated using past command signals due to the omni-directional property of the robot, a simpler control law without using past signals is adopted from the implementation viewpoint. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.

Original language	English
Title of host publication	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	1624-1629
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2008.4650867
Publication status	Published - Dec 1 2008
Event	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: Sept 22 2008 → Sept 26 2008

Publication series

Name	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country/Territory	France
City	Nice
Period	9/22/08 → 9/26/08

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IROS.2008.4650867

Cite this

Fukushima, H., Tanaka, M., Kamegawa, T., & Matsuno, F. (2008). Path-tracking control of a snake-like robot using screw drive mechanism. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1624-1629). Article 4650867 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650867

Path-tracking control of a snake-like robot using screw drive mechanism. / Fukushima, Hiroaki; Tanaka, Motoyasu; Kamegawa, Tetsushi et al.
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 1624-1629 4650867 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Fukushima, H, Tanaka, M, Kamegawa, T & Matsuno, F 2008, Path-tracking control of a snake-like robot using screw drive mechanism. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4650867, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 1624-1629, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 9/22/08. https://doi.org/10.1109/IROS.2008.4650867

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AB - This paper presents a path-tracking control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. Although the velocity commands for exact path tracking can be calculated using past command signals due to the omni-directional property of the robot, a simpler control law without using past signals is adopted from the implementation viewpoint. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.

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Path-tracking control of a snake-like robot using screw drive mechanism

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