dc.contributor.author | Rezapour, Ehsan | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.contributor.author | Liljebäck, Pål | |
dc.date.accessioned | 2014-12-14T14:33:16Z | |
dc.date.accessioned | 2016-07-04T11:06:29Z | |
dc.date.available | 2014-12-14T14:33:16Z | |
dc.date.available | 2016-07-04T11:06:29Z | |
dc.date.issued | 2014 | |
dc.identifier.citation | IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics 2014:993-1000 | nb_NO |
dc.identifier.issn | 2155-1774 | |
dc.identifier.uri | http://hdl.handle.net/11250/2395480 | |
dc.description.abstract | This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic feedback control law for the joints of the robot to track a desired gait pattern. This tracking control law depends on the time evolution of the state variables of a dynamic compensator which is used for controlling the orientation of the robot. In particular, we employ the dynamic compensator to practically stabilize a reference head angle defined by a Line-of-Sight path following guidance law. Using an input-output stability analysis, we show the uniform boundedness of the solutions of the controlled system. Furthermore, we use a perturbation analysis to show that the orientation error is ultimately bounded by an arbitrarily small bound. Simulation results are presented to validate the theoretical results. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE Conference Publications | nb_NO |
dc.relation.ispartofseries | Biomedical Robotics and Biomechatronics;5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics | |
dc.title | Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots | nb_NO |
dc.type | Chapter | nb_NO |
dc.date.updated | 2014-12-14T14:33:16Z | |
dc.description.version | submittedVersion | |
dc.source.pagenumber | 993-1000 | nb_NO |
dc.identifier.doi | 10.1109/BIOROB.2014.6913910 | |
dc.identifier.cristin | 1202093 | |
dc.description.localcode | (c) 2014 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 |