Compliant Control of the Body Shape of Snake Robots

Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy
Journal article, Peer reviewed
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URI
http://hdl.handle.net/11250/275573
Date
2014
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Original version
Proceedings / IEEE International Conference on Robotics and Automation 2014:4548-4555   10.1109/ICRA.2014.6907523
Abstract
This paper presents a general motion planning framework for body shape control of snake robots. We demonstrate the applicability of the framework for straight line path following control, and for implementing body shape compliance in environments with obstacles. Compliance is achieved by assigning mass-spring-damper dynamics to the shape curve defining the motion of the robot. The performance of the control strategies is illustrated with simulation results.
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This is the author’s final, accepted and refereed manuscript to the article.
Publisher
IEEE
Journal
IEEE International Conference on Robotics and Automation (ICRA 2014)