Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints
Journal article, Peer reviewed
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Original versionIEEE Transactions on Control Systems Technology 2016, 24(3):884-899 10.1109/TCST.2015.2467208
This paper investigates the problem of maneuvering control for planar snake robots. The control objective is to make the center of mass of the snake robot converge to a desired path and traverse the path with a desired velocity. The proposed feedback control strategy enforces virtual constraints encoding a lateral undulatory gait, parametrized by the states of dynamic compensators used to regulate the orientation and forward speed of the snake robot.