dc.contributor.author | Rezapour, Ehsan | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Liljebäck, Pål | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2014-12-14T14:36:25Z | |
dc.date.accessioned | 2016-07-04T08:24:10Z | |
dc.date.available | 2014-12-14T14:36:25Z | |
dc.date.available | 2016-07-04T08:24:10Z | |
dc.date.issued | 2013 | |
dc.identifier.citation | Meng, Max; Gu, Jason; Zhao, Jie [Eds.] Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO) 2013, 12-14 Dec. 2013, Shenzhen, China p. 530-537, IEEE conference proceedings, 2013 | nb_NO |
dc.identifier.isbn | 978-1-4799-2744-9 | |
dc.identifier.uri | http://hdl.handle.net/11250/2395405 | |
dc.description.abstract | This paper considers path following control of planar snake robots using virtual holonomic constraints. We first derive the Euler-Lagrange equations of motion of the snake robot. Moreover, we integrate the effects of friction forces into these equations. Subsequently, we define geometric relations among the generalized coordinates of the system, using the method of virtual holonomic constraints. These appropriately defined constraints shape the geometry of a constraint manifold for the system, which is a submanifold of the configuration space of the robot. In particular, we show that the constraint manifold can be made invariant by a suitable choice of feedback. Furthermore, we analytically design a smooth feedback control law to render the constraint manifold exponentially stable for the controlled system. We show that enforcing the appropriately defined virtual holonomic constraints implies that the robot converges to and follows a desired geometric path. Numerical simulations are presented to support the theoretical design. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints | nb_NO |
dc.type | Chapter | nb_NO |
dc.date.updated | 2014-12-14T14:36:26Z | |
dc.description.version | submittedVersion | |
dc.source.pagenumber | 530-537 | nb_NO |
dc.source.journal | Proceedings of The 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO) | nb_NO |
dc.identifier.doi | 10.1109/ROBIO.2013.6739514 | |
dc.identifier.cristin | 1092992 | |
dc.description.localcode | (c) 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | nb_NO |