Control Strategy for a Snake-Like Robot Based on Constraint Force and Verification by Experiment

References

• Hirose , S. 1993 . Biologically Inspired Robots—Snake-Like Locomotors and Manipulators , New York : Oxford University Press .
   Google Scholar
• Hirose , S. and Morishima , A. 1990 . Design and control of a mobile robot with an articulated body . Int. J. Robotics Res. , 9 : 99 – 114 .
   Web of Science ®Google Scholar
• Hicks , G. and Ito , K. 2005 . A method for determination of optimal gaits with application to a snake-like serial-link structure . IEEE Trans. Automatic Control , 50 : 1291 – 1306 .
   Google Scholar
• Prautsch , P. and Mita , T. 1999 . “ Control and analysis of the gait of snake robots ” . In Proc. IEEE Int. Conf. on Control Applications 502 – 507 . Kohala Coast , HI
   Google Scholar
• Matsuno , F. and Sato , H. 2005 . “ Trajectory tracking control of snake robots based on dynamic model ” . In Proc. IEEE Int. Conf. on Robotics and Automation 3029 – 3034 . Barcelona
   Google Scholar
• Tanaka , M. and Matsuno , F. 2008 . “ Control of 3-dimensional snake robots by using redundancy ” . In Proc. IEEE Int. Conf. on Robotics and Automation 1156 – 1161 . Pasadena , CA
   Google Scholar
• Transeth , A. A. , Leine , R. I. , Glocker , C. , Pettersen , K. Y. and Liljebäck , P. 2008 . Snake robot obstacle-aided locomotion: modeling, simulations, and experiments . IEEE Trans. Robotics , 24 : 88 – 104 .
   Web of Science ®Google Scholar
• McIsaac , K. A. and Ostrowski , J. P. 2003 . A framework for steering dynamic robotic locomotion systems . Int. J. Robotics Res. , 22 : 83 – 97 .
   Google Scholar
• Dubins , L. E. 1957 . On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents . Am. J. Math. , 79 : 497 – 516 .
   Web of Science ®Google Scholar
• Chernousko , F. L. 2005 . Modelling of snake-like locomotion . Int. Workshop Dyn. Control , 164 : 415 – 434 .
   Google Scholar
• Saito , M. , Fukaya , M. and Iwasaki , T. 2002 . Serpentine locomotion with robotic snakes . IEEE Control Syst. Mag. , 22 : 64 – 81 .
   Web of Science ®Google Scholar
• Ma , S. , Tadokoro , N. and Inoue , K. 2006 . Influence of the gradient of a slope on optimal locomotion curves of a snake-like robot . Adv. Robotics , 20 : 413 – 428 .
   Web of Science ®Google Scholar
• Ma , S. 2001 . Analysis of creeping locomotion of a snake-like robot . Adv. Robotics , 15 : 205 – 224 .
   Web of Science ®Google Scholar
• Date , H. , Hoshi , Y. and Sampei , M. 2000 . “ Locomotion control of a snake-like robot based on dynamic manipulability ” . In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2236 – 2241 . Kagawa
   Google Scholar
• Date , H. , Hoshi , Y. , Sampei , M. and Nakaura , S. 2001 . “ Locomotion control of a snake robot with constraint force attenuation ” . In Proc. Am. Control Conf 113 – 118 . Arlington , VA
   Google Scholar
• Yamakita , M. , Hashimoto , M. and Yamada , T. 2004 . Control of locomotion and head configuration for 3D snake robot . J. Robotics Soc. Japan , 2 : 61 – 67 .
   Google Scholar
• Terashima , S. , Iwase , M. , Furuta , K. , Suzuki , S. and Hatakeyama , S. 2000 . “ A design of servo controller for nonlinear systems using state dependent Riccati equation ” . In Proc. 42nd IEEE Conf. on Decision and Control 2236 – 2241 . Maui , HI
   Google Scholar
• Furuta , K. and Iwase , M. 2004 . Swing-up time analysis of pendulum . Bull. Polish Acad. Sci. Tech. , 52 : 153 – 163 .
   Google Scholar
• Cloutier , J. R. 1997 . “ State-dependent Riccati equation techniques: an overview ” . In Proc. Am. Control Conf Vol. 52 , 932 – 936 . Albuquerque , NM No. 3
   Google Scholar
• Cimen , T. 2008 . “ State-dependent Riccati equation (SDRE) control: a survey ” . In Proc. 17th IFAC World Congr 3761 – 3775 . Seoul
   Google Scholar
• Arczewsk , K. and Blajer , W. 1996 . A unified approach to the modelling of holonomic and nonholonomic mechanical systems . Math. Modell. Syst. , 2/3 : 157 – 174 .
   Google Scholar
• Blajer , W. 2001 . A geometrical interpretation and uniform matrix formulation of multibody systems dynamics . ZAMM Z. Angew. Math. Mech. , 81 : 247 – 259 .
   Web of Science ®Google Scholar
• Maruyama , T. , Iwase , M. and Hatakeyama , S. 2006 . “ A modelling of a snake-like robot ” . In Master's Program , Tokyo Denki University Graduate School of Science and Engineering .
   Google Scholar
• Erdem , E. B. and Alleyne , A. G. 2002 . “ Estimation of stability regions of SDRE controlled systems using vector norms ” . In Proc. Am. Control Conf 80 – 85 . Anchorage , AK
   Google Scholar
• Curtis , J. W. and Beard , R. W. 2002 . “ Ensuring stability of state-dependent Riccati equation controllers via satisficing ” . In Proc. 41st IEEE Conf. on Decision and Control 2645 – 2650 . Las Vegas , NV
   Google Scholar
• Hammett , K. D. and Ridgely , D. B. 1997 . “ Locally stabilizing analytic state feedback controllers for scaler systesm via SDRE nonlinear regulation ” . In Proc. Am. Control Conf 1070 – 1071 . Albuquerque , NM
   Google Scholar