Optimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robots
Original version
IEEE International Conference on Intelligent Robots and Systems. Proceedings 2014 10.1109/IROS.2014.6942579Abstract
Snake robots are biomimetic robots highly suited
for traversing challenging terrain where traditional robots have
difficulty moving. A key aspect is obstacle-aided locomotion,
where the snake pushes against the environment to achieve the
desired propulsion. The main focus of this work is to optimally
determine how to use the motor torque inputs that result in
obstacle forces suitable to achieve some user-defined desired
path for the snake. To this end, we present a new dynamical
snake model, an explicit algebraic relationship between input
and obstacle forces, and formulate an optimization problem
that seeks to minimize energy consumption while achieving
propulsion along the desired path.
Description
This is the author’s final, accepted and refereed manuscript to the article.