Control of a snake robot in consideration of constraint force

IEEE Conference on Control Applications - Proceedings

Volumn , Issue , 2001, Pages 966-971

  Date, Hisashi ^a   Sampei, Mitsuji ^a   Nakaura, Shigeki ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; MATHEMATICAL MODELS; OPTIMIZATION; ROBOTS; TORQUE CONTROL;

CONSTRAINT FORCE; LOCOMOTABILITY; MANIPUTABILITY; SERPENTINE MOVEMENT; SNAKE ROBOT;

FORCE CONTROL;

EID: 0035697283     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. A "sidewinding" locomotion gait for hyper-redundant robts
2. Design and forward kinematic analysis of a robotic snake
3. The geometric mechanics of undulatory robotic locomotion
4. Control of a snake robot with redundancy based on kinematic model
5. Control and analysis of the gait of snake robots
6. Locomotion control of a snake-like robot based on dynamic manipulability
7. Analysis and control of manipulators with redundancy
8. Kinematic and dynamic analysis of robot arm