Control of snake type biomimetic structure

Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering

Volumn 87 LNICST, Issue , 2012, Pages 554-562

  Ivanescu, Mircea ^a   Bizdoaca, Nicu ^a   Hamdan, Hani ^b   Eltabach, Mario ^c   Florescu, Mihaela ^a  

^a UNIVERSITY OF CRAIOVA   (Romania)

^b SUPELEC   (France)

^c CETIM   (France)

Author keywords

biomimetics; control; robot; snake type robot

Indexed keywords

BIOMIMETIC STRUCTURES; CONTINUUM ELEMENTS; COOPERATIVE TASKS; HYPER REDUNDANT; NON-CONTACT; POPOV CRITERIA; ROBOT ACTUATORS; ROBOT MOTION;

ALGORITHMS; BIOMIMETICS; CONTROL; STABILITY CRITERIA;

ROBOTS;

EID: 84869597581     PISSN: 18678211     EISSN: None     Source Type: Book Series    
DOI: 10.1007/978-3-642-32615-8_54     Document Type: Conference Paper

References (16)

1. Hemami, A.: Design of light weight flexible robot arm. In: Robots 8 Conference Proceedings, Detroit, USA, pp. 1623-1640 (1984)
2. Gravagne, I.A., Walker, I.D.: On the kinematics of remotely - actuated continuum robots. In: Proc. 2000 IEEE Int. Conf. on Robotics and Automation, San Francisco, pp. 2544-2550 (2000)
3. Gravagne, I.A., Walker, I.D.: Kinematic Transformations for Remotely-Actuated Planar Continuum Robots. In: Proc. 2000 IEEE Int. Conf. on Rob. and Aut., San Francisco, pp. 19-26 (2000)
4. Gravagne, I.A., Rahn, C.D., Walker, I.D.: Good Vibrations: A Vibration Damping Setpoint Controller for Continuum Robots. In: Proc. 2001 IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, pp. 3877-3884 (2001)
5. Gravagne, I.A., Walker, I.D.: Uniform Regulation of a Multi-Section Continuum Manipulator. In: Proc. IEEE Int. Conf. on Rob. and Aut., Washington, A1-15, pp. 1519-1524 (2002)
6. Chirikjian, G.S., Burdick, J.W.: An obstacle avoidance algorithm for hyper-redundant manipulators. In: Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnati, Ohio, pp. 625-631 (1990)
7. Mochiyama, H., Kobayashi, H.: The shape Jacobian of a manipulator with hyper degrees of freedom. In: Proc. 1999 IEEE Int. Conf. on Robotics and Automation, Detroit, pp. 2837-2842 (1999)
8. Robinson, G., Davies, J.B.C.: Continuum robots - a state of the art. In: Proc. 1999 IEEE Int. Conf. on Rob and Aut., Detroit, Michigan, pp. 2849-2854 (1999)
9. Ivanescu, M., Stoian, V.: A variable structure controller for a tentacle manipulator. In: Proc. IEEE Int. Conf. on Robotics and Aut., Nagoya, pp. 3155-3160 (1995)
10. Ivanescu, M., Florescu, M.C., Popescu, N., Popescu, D.: Position and Force Control of the Grasping Function for a Hyperredundant Arm. In: Proc. of IEEE Int. Conf. on Rob. and Aut., Pasadena, California, pp. 2599-2604 (2008)
11. Camarillo, D., Milne, C.: Mechanics Modeling of Tendon - Driven Continuum Manipulators. IEEE Trans. on Robotics 24(6), 1262-1273 (2008)
12. Wongratanaphisan, T., Cole, M.: Robust Impedance Control of a Flexible Structure Mounted Manipulator Performing Contact Tasks. IEEE Trans. on Robotics 25(2), 445-451 (2009)
13. Grant, D., Hayward, V.: Constrained Force Control of SMA Actuators. In: Proc. ICRA 2000, San Francisco, pp. 1314-1320 (2000)
14. Mihlin, S.G.: Variationnie Metodi b Matematiceskvi Fizike. Nauka, Moscva (1970)
15. Slotine, J.J., Li, W.: Applied Nonlinear Control. Prentice-Hall International Editions (1991)
16. Ivanescu, M., Bizdoaca, N., Florescu, M.C., Popescu, N., Popescu, D.: Frequency Criteria for the Grasping Control of a Hyper-Redundant Robot. In: Proc. of IEEE Int. Conf. on Rob. and Aut. (ICRA 2010), Anchorage, Alaska, pp. 1542-1549 (2010)