TY - GEN
T1 - Study on Propulsion of a Snake Robot with Torque Propagation Based on Modified Curvature Derivatives
AU - Wang, Yongdong
AU - Kamegawa, Tetsushi
AU - Gofuku, Akio
N1 - Funding Information:
ACKNOWLEDGMENT This work was funded by the JSPS Research Grant 20K04380.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/8
Y1 - 2021/8/8
N2 - In this paper, the idea of using torque propagation for robot propulsion is modified and v a lidated. The curvature derivatives formula is modified by u sing a logarithmic correction function and adding a motor viscous friction losses compensation term to improve the mobility and stability of the robot. This experiment uses ODE (Open Dynamics Engine) as the physical engine to observe the locomotion of the robot in a simulation environment to verify the effectiveness of the algorithm. We conduct several sets of experiments and compare the proportional gain of the new algorithm. The results show that a larger proportionate gain can effectively improve the mobility of the robot, but the excess gain can lead to system oscillation and reduce the stability of the system.
AB - In this paper, the idea of using torque propagation for robot propulsion is modified and v a lidated. The curvature derivatives formula is modified by u sing a logarithmic correction function and adding a motor viscous friction losses compensation term to improve the mobility and stability of the robot. This experiment uses ODE (Open Dynamics Engine) as the physical engine to observe the locomotion of the robot in a simulation environment to verify the effectiveness of the algorithm. We conduct several sets of experiments and compare the proportional gain of the new algorithm. The results show that a larger proportionate gain can effectively improve the mobility of the robot, but the excess gain can lead to system oscillation and reduce the stability of the system.
KW - curvature derivatives
KW - snake robot
KW - torque propagation
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U2 - 10.1109/ICMA52036.2021.9512737
DO - 10.1109/ICMA52036.2021.9512737
M3 - Conference contribution
AN - SCOPUS:85115149841
T3 - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
SP - 663
EP - 668
BT - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Y2 - 8 August 2021 through 11 August 2021
ER -